+ python -m lidar_slam --no-model /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a Lidar SLAM 0.0.15 ===================================================== The recording path: /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a 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 0.00719347 Adjusted end_distance from 9.223372036854776e+18 to 204.37719347 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00719347 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.03719347 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.06719347 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.09719347 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.12719347 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.15719347 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.18719347 meters Centerline goodness : 0.189591 Centerline is valid? [0, False] SLAMing on 0.21719347 meters Centerline goodness : 0.221075 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:-0.02 [[ 0.99835962 0.05108962 -0.02584426 -0.01128212] [-0.05091748 0.99867636 0.00727592 -0.10877452] [ 0.02618177 -0.00594806 0.9996395 -0.01823677] [ 0. 0. 0. 1. ]] SLAMing on 0.24719347 meters Centerline goodness : 0.235690 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.16, Z:-0.03 [[ 0.99383518 0.09786742 -0.05209231 0.05874682] [-0.09710656 0.99512968 0.01694798 -0.16338657] [ 0.05349726 -0.011785 0.99849845 -0.02638667] [ 0. 0. 0. 1. ]] SLAMing on 0.27719347 meters Centerline goodness : 0.143753 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:-0.02 [[ 0.99601238 0.05886655 -0.06703776 0.16022876] [-0.05830115 0.99824527 0.01036116 -0.18926984] [ 0.06753005 -0.00641147 0.99769664 -0.02482368] [ 0. 0. 0. 1. ]] SLAMing on 0.30719346999999997 meters Centerline goodness : 0.141847 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.19, Z:-0.03 [[ 0.99438689 0.06439293 -0.08395395 0.24287493] [-0.06383468 0.99791697 0.00931965 -0.19174805] [ 0.08437919 -0.00390816 0.99642605 -0.03151281] [ 0. 0. 0. 1. ]] SLAMing on 0.33719346999999994 meters Centerline goodness : 0.139847 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:-0.03 [[ 0.99014315 0.09845339 -0.0996166 0.30040481] [-0.09807763 0.99514096 0.00867435 -0.22053571] [ 0.09998658 0.00118131 0.99498808 -0.0327562 ] [ 0. 0. 0. 1. ]] SLAMing on 0.36719346999999997 meters Centerline goodness : 0.136587 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.03 [[ 0.9872476 0.12531633 -0.09817332 0.35175594] [-0.12539692 0.9920921 0.00537348 -0.2217917 ] [ 0.09807036 0.00700568 0.99515482 -0.02842424] [ 0. 0. 0. 1. ]] SLAMing on 0.39719347 meters Centerline goodness : 0.162277 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.24, Z:-0.02 [[ 0.98928428 0.10918936 -0.09692417 0.38619297] [-0.1099564 0.99393303 -0.00259199 -0.24205826] [ 0.09605311 0.01322165 0.99528839 -0.02027075] [ 0. 0. 0. 1. ]] SLAMing on 0.42719346999999996 meters Centerline goodness : 0.166470 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.02 [[ 9.88312932e-01 1.11336980e-01 -1.04123127e-01 4.00711725e-01] [-1.12035311e-01 9.93703851e-01 -8.63990174e-04 -2.54755012e-01] [ 1.03371359e-01 1.25193596e-02 9.94564039e-01 -2.16702687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45719346999999994 meters Centerline goodness : 0.451372 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.02 [[ 0.98856288 0.10765677 -0.10560988 0.40443338] [-0.10841149 0.9941051 -0.00141496 -0.26540663] [ 0.10483499 0.0128481 0.99440663 -0.024815 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48719346999999996 meters Centerline goodness : 0.784611 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.02 [[ 0.98702933 0.12231662 -0.10397955 0.42528839] [-0.1226702 0.99244292 0.00301191 -0.25220729] [ 0.10356217 0.00978235 0.99457488 -0.02494105] [ 0. 0. 0. 1. ]] SLAMing on 0.51719347 meters Centerline goodness : 0.556180 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.02 [[ 0.98775177 0.11505437 -0.10539892 0.42374601] [-0.11631748 0.99319458 -0.00589591 -0.25071847] [ 0.10400328 0.01808344 0.99441254 -0.02042912] [ 0. 0. 0. 1. ]] SLAMing on 0.5471934700000001 meters Centerline goodness : 0.415511 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.25, Z:-0.02 [[ 0.9891077 0.10143172 -0.1066657 0.42777274] [-0.10219367 0.99476309 -0.0016877 -0.24825106] [ 0.10593591 0.01256988 0.99429351 -0.0236259 ] [ 0. 0. 0. 1. ]] SLAMing on 0.57719347 meters Centerline goodness : 0.667405 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.03 [[ 0.99047231 0.08959812 -0.10457907 0.42547927] [-0.08896386 0.99597713 0.01072335 -0.24338886] [ 0.10511915 -0.00131742 0.99445876 -0.02781711] [ 0. 0. 0. 1. ]] SLAMing on 0.60719347 meters Centerline goodness : 0.844747 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.02 [[ 0.99111513 0.07862722 -0.10727797 0.42733811] [-0.0792574 0.99685287 -0.00161671 -0.23722332] [ 0.10681324 0.01010492 0.99422775 -0.02426945] [ 0. 0. 0. 1. ]] SLAMing on 0.63719347 meters Centerline goodness : 0.148308 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.01 [[ 0.99181891 0.07812721 -0.10095243 0.43291548] [-0.07892557 0.99687276 -0.00393241 -0.23254067] [ 0.1003295 0.01186797 0.99488348 -0.01427457] [ 0. 0. 0. 1. ]] SLAMing on 0.66719347 meters Centerline goodness : 0.799131 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.23, Z:-0.01 [[ 0.99183932 0.0777829 -0.10101776 0.43270493] [-0.07861093 0.99689637 -0.00423617 -0.23153718] [ 0.10037473 0.0121427 0.9948756 -0.01378699] [ 0. 0. 0. 1. ]] SLAMing on 0.69719347 meters Centerline goodness : 0.875925 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.01 [[ 0.9926482 0.07637083 -0.09389915 0.43623494] [-0.07613333 0.9970789 0.00611436 -0.23996745] [ 0.09409182 0.00107945 0.99556294 -0.01397676] [ 0. 0. 0. 1. ]] SLAMing on 0.72719347 meters Centerline goodness : 0.842156 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.24, Z:-0.02 [[ 0.99183296 0.0836886 -0.09624758 0.4392485 ] [-0.08377483 0.99647973 0.00315177 -0.24334532] [ 0.09617252 0.0049371 0.99535244 -0.02281323] [ 0. 0. 0. 1. ]] SLAMing on 0.75719347 meters Centerline goodness : 0.802410 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:-0.03 [[ 0.99011527 0.09321568 -0.10479789 0.45883255] [-0.09302935 0.99564099 0.00667547 -0.25837253] [ 0.10496333 0.0031398 0.99447114 -0.02814665] [ 0. 0. 0. 1. ]] SLAMing on 0.7871934700000001 meters Centerline goodness : 0.864662 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.03 [[ 9.89867963e-01 9.55096489e-02 -1.05068183e-01 4.62455596e-01] [-9.48931160e-02 9.95428197e-01 1.08628715e-02 -2.68776184e-01] [ 1.05625341e-01 -7.82561269e-04 9.94405689e-01 -3.21720021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81719347 meters Centerline goodness : 0.695861 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.03 [[ 0.98893607 0.10214072 -0.1075766 0.46430111] [-0.10111119 0.99476211 0.01499594 -0.28578962] [ 0.10854482 -0.00395283 0.9940837 -0.0289672 ] [ 0. 0. 0. 1. ]] SLAMing on 0.84719347 meters Centerline goodness : 0.872602 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.32, Z:-0.03 [[ 0.98973924 0.08724583 -0.11315658 0.47134168] [-0.08542672 0.99612657 0.02083581 -0.32057949] [ 0.11453612 -0.01095543 0.99335867 -0.03271645] [ 0. 0. 0. 1. ]] SLAMing on 0.87719347 meters Centerline goodness : 0.186926 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.34, Z:-0.03 [[ 0.99070581 0.07656759 -0.11242512 0.46812981] [-0.07470906 0.99699137 0.02065842 -0.34060157] [ 0.11366864 -0.01206724 0.99344543 -0.03136406] [ 0. 0. 0. 1. ]] SLAMing on 0.90719347 meters Centerline goodness : 0.146228 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.36, Z:-0.03 [[ 0.98970007 0.08469012 -0.11541814 0.47100331] [-0.08248827 0.99630947 0.02373043 -0.36026288] [ 0.11700192 -0.01396537 0.99303349 -0.02778956] [ 0. 0. 0. 1. ]] SLAMing on 0.93719347 meters Centerline goodness : 0.146228 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.36, Z:-0.03 [[ 0.98970007 0.08469012 -0.11541814 0.47100331] [-0.08248827 0.99630947 0.02373043 -0.36026288] [ 0.11700192 -0.01396537 0.99303349 -0.02778956] [ 0. 0. 0. 1. ]] SLAMing on 0.96719347 meters Centerline goodness : 0.862608 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.37, Z:-0.03 [[ 9.87588247e-01 1.03065477e-01 -1.18519877e-01 4.80396898e-01] [-1.02229849e-01 9.94674214e-01 1.31250136e-02 -3.72176490e-01] [ 1.19241401e-01 -8.45840135e-04 9.92864932e-01 -2.53261902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99719347 meters Centerline goodness : 0.862959 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.38, Z:-0.02 [[ 9.87218227e-01 1.04848359e-01 -1.20029140e-01 4.80213922e-01] [-1.04002181e-01 9.94488004e-01 1.33099880e-02 -3.78186184e-01] [ 1.20763070e-01 -6.56570442e-04 9.92681142e-01 -2.21074717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02719347 meters Centerline goodness : 0.856095 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.39, Z:-0.02 [[ 9.87632094e-01 9.97999552e-02 -1.20924836e-01 4.80377995e-01] [-9.90992161e-02 9.95007471e-01 1.18101027e-02 -3.91076002e-01] [ 1.21499762e-01 3.19519922e-04 9.92591409e-01 -2.31738376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05719347 meters Centerline goodness : 0.390516 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.02 [[ 0.98681426 0.10827827 -0.12030556 0.48848892] [-0.10809311 0.99410791 0.00808327 -0.39602379] [ 0.12047195 0.00502752 0.992704 -0.02102509] [ 0. 0. 0. 1. ]] SLAMing on 1.08719347 meters Centerline goodness : 0.226994 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.40, Z:-0.02 [[ 9.86062285e-01 1.15331848e-01 -1.19915534e-01 4.96497428e-01] [-1.16083822e-01 9.93239160e-01 7.19080562e-04 -3.98135937e-01] [ 1.19187737e-01 1.32111953e-02 9.92783837e-01 -1.70715418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.11719347 meters Centerline goodness : 0.831349 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.03 [[ 0.98925965 0.09363484 -0.11224018 0.48074547] [-0.0932745 0.99560441 0.00846893 -0.40990058] [ 0.1125398 0.00209118 0.99364502 -0.02596448] [ 0. 0. 0. 1. ]] SLAMing on 1.14719347 meters Centerline goodness : 0.665782 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.42, Z:-0.04 [[ 0.99056334 0.07983534 -0.11140278 0.47707 ] [-0.07845023 0.99677699 0.0167689 -0.41831026] [ 0.11238248 -0.00787108 0.99363385 -0.03857439] [ 0. 0. 0. 1. ]] SLAMing on 1.17719347 meters Centerline goodness : 0.490814 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.41, Z:-0.04 [[ 0.98744242 0.09959079 -0.12263418 0.49839275] [-0.09929993 0.99502127 0.00849675 -0.41402422] [ 0.12286982 0.00378752 0.99241557 -0.04369037] [ 0. 0. 0. 1. ]] SLAMing on 1.20719347 meters Centerline goodness : 0.145253 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.40, Z:-0.03 [[ 0.98335405 0.13557447 -0.12097259 0.51861981] [-0.13773555 0.99042207 -0.00964567 -0.39530688] [ 0.11850622 0.02614734 0.99260898 -0.0322163 ] [ 0. 0. 0. 1. ]] SLAMing on 1.23719347 meters Centerline goodness : 0.663555 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.39, Z:-0.03 [[ 0.98392087 0.14020639 -0.11064306 0.52192367] [-0.1422297 0.98977722 -0.01057167 -0.38965079] [ 0.10802976 0.02613842 0.99380398 -0.02860185] [ 0. 0. 0. 1. ]] SLAMing on 1.26719347 meters Centerline goodness : 0.864148 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:-0.03 [[ 0.98257699 0.14179076 -0.12015757 0.52183001] [-0.1435879 0.98961695 -0.00638855 -0.38438517] [ 0.11800413 0.02353041 0.99273428 -0.03464971] [ 0. 0. 0. 1. ]] SLAMing on 1.29719347 meters Centerline goodness : 0.886976 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:-0.02 [[ 0.98304278 0.1470829 -0.10951486 0.51795269] [-0.1488254 0.9888322 -0.00786587 -0.37817745] [ 0.10713489 0.02403108 0.99395403 -0.02028098] [ 0. 0. 0. 1. ]] SLAMing on 1.3271934699999999 meters Centerline goodness : 0.890037 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:-0.01 [[ 0.98196806 0.15686236 -0.10551269 0.52947821] [-0.15842536 0.98734926 -0.00654623 -0.37278771] [ 0.10315102 0.02314408 0.99439641 -0.01273247] [ 0. 0. 0. 1. ]] SLAMing on 1.35719347 meters Centerline goodness : 0.898588 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:-0.01 [[ 0.97946762 0.17152757 -0.10593148 0.53239375] [-0.17226856 0.9850476 0.00218391 -0.36684592] [ 0.10472215 0.0161096 0.99437103 -0.01171856] [ 0. 0. 0. 1. ]] SLAMing on 1.38719347 meters Centerline goodness : 0.899178 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.01 [[ 0.98136868 0.16478784 -0.09879518 0.5166493 ] [-0.16716852 0.98579414 -0.01626656 -0.35052224] [ 0.09471118 0.03247894 0.99497483 -0.0068802 ] [ 0. 0. 0. 1. ]] SLAMing on 1.41719347 meters Centerline goodness : 0.897274 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.01 [[ 0.98183987 0.16187477 -0.0989294 0.51739135] [-0.16452361 0.98618672 -0.01917625 -0.34373096] [ 0.09445871 0.03510423 0.99490967 -0.00697862] [ 0. 0. 0. 1. ]] SLAMing on 1.44719347 meters Centerline goodness : 0.893721 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.01 [[ 0.98418601 0.14656173 -0.09948646 0.51502758] [-0.14936983 0.98855089 -0.02134936 -0.33719554] [ 0.09521843 0.03587202 0.99480986 -0.01469269] [ 0. 0. 0. 1. ]] SLAMing on 1.47719347 meters Centerline goodness : 0.889096 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.32, Z:-0.02 [[ 0.98423783 0.14701456 -0.09829861 0.51969061] [-0.14961745 0.9885494 -0.01961366 -0.31577712] [ 0.09428954 0.03401169 0.99496366 -0.01706653] [ 0. 0. 0. 1. ]] SLAMing on 1.50719347 meters Centerline goodness : 0.891227 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.02 [[ 0.98270421 0.15035293 -0.10810381 0.52273178] [-0.15284144 0.98813586 -0.01506703 -0.30272865] [ 0.10455588 0.03132917 0.99402543 -0.0235878 ] [ 0. 0. 0. 1. ]] SLAMing on 1.53719347 meters Centerline goodness : 0.897596 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.01 [[ 0.98530237 0.15266345 -0.07663622 0.47878808] [-0.15560466 0.98723534 -0.03396417 -0.26681508] [ 0.0704729 0.04538993 0.99648047 -0.01400658] [ 0. 0. 0. 1. ]] SLAMing on 1.56719347 meters Centerline goodness : 0.899209 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.23, Z:-0.01 [[ 0.98605231 0.15131032 -0.06932547 0.46503111] [-0.15366663 0.98766755 -0.02998959 -0.23162856] [ 0.06393278 0.04022431 0.99714322 -0.0126542 ] [ 0. 0. 0. 1. ]] SLAMing on 1.59719347 meters Centerline goodness : 0.895891 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.21, Z:-0.02 [[ 0.98698181 0.14558607 -0.0683492 0.46347747] [-0.14729667 0.98887644 -0.02066592 -0.21249852] [ 0.06458024 0.0304645 0.9974474 -0.02286331] [ 0. 0. 0. 1. ]] SLAMing on 1.62719347 meters Centerline goodness : 0.894707 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.19, Z:-0.03 [[ 0.98658121 0.14750264 -0.07000353 0.47014251] [-0.14972499 0.98834211 -0.02760982 -0.19402669] [ 0.06511491 0.0377206 0.99716458 -0.03004602] [ 0. 0. 0. 1. ]] SLAMing on 1.65719347 meters Centerline goodness : 0.889871 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.18, Z:-0.04 [[ 0.98562958 0.14848091 -0.08054653 0.47527527] [-0.15078582 0.98829191 -0.02329685 -0.18406405] [ 0.07614435 0.03510734 0.99647856 -0.03821154] [ 0. 0. 0. 1. ]] SLAMing on 1.68719347 meters Centerline goodness : 0.880536 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.05 [[ 0.98451589 0.14770642 -0.09439956 0.47911252] [-0.14911992 0.98878627 -0.00805986 -0.17420006] [ 0.0921505 0.02201192 0.99550176 -0.05209015] [ 0. 0. 0. 1. ]] SLAMing on 1.71719347 meters Centerline goodness : 0.877042 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.05 [[ 0.98520415 0.14251815 -0.09519121 0.48007458] [-0.14432317 0.98945392 -0.01231887 -0.1746433 ] [ 0.09243166 0.0258749 0.99538278 -0.05293627] [ 0. 0. 0. 1. ]] SLAMing on 1.74719347 meters Centerline goodness : 0.888979 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:0.06 [[ 0.98625467 0.06176428 -0.15325435 0.34231893] [-0.10203047 0.95720246 -0.270838 0.12731282] [ 0.12996733 0.28275186 0.95034724 0.0567361 ] [ 0. 0. 0. 1. ]] SLAMing on 1.77719347 meters Centerline goodness : 0.900365 Centerline is valid? [False, False] Translation: X:0.20, Y:0.29, Z:0.13 [[ 0.99051606 0.01687655 -0.13635661 0.20250336] [-0.06267177 0.93866732 -0.33908098 0.28508211] [ 0.12227097 0.34441087 0.93082274 0.13008797] [ 0. 0. 0. 1. ]] SLAMing on 1.8071934699999999 meters Centerline goodness : 0.893671 Centerline is valid? [False, False] Translation: X:0.25, Y:0.35, Z:0.14 [[ 0.99002426 0.01571 -0.14001845 0.24602572] [-0.0577215 0.95176748 -0.30134181 0.34908421] [ 0.12853093 0.30641778 0.9431797 0.13836231] [ 0. 0. 0. 1. ]] SLAMing on 1.8371934699999999 meters Centerline goodness : 0.908555 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.29, Z:0.12 [[ 0.99433251 0.00948581 -0.10589087 -0.01599067] [-0.04899795 0.92481313 -0.37725306 0.29279784] [ 0.09435071 0.38030342 0.92003655 0.11536397] [ 0. 0. 0. 1. ]] SLAMing on 1.86719347 meters Centerline goodness : 0.894999 Centerline is valid? [False, False] Translation: X:0.01, Y:0.33, Z:0.12 [[ 0.99348267 -0.00849886 -0.11366593 0.00825483] [-0.03158612 0.93763552 -0.34618196 0.3344771 ] [ 0.10951937 0.34751605 0.9312562 0.1191796 ] [ 0. 0. 0. 1. ]] SLAMing on 1.89719347 meters Centerline goodness : 0.904198 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.21, Z:0.05 [[ 9.92635709e-01 5.36048792e-02 -1.08631791e-01 -2.80386199e-04] [-8.17392906e-02 9.58233367e-01 -2.74057481e-01 2.08887206e-01] [ 8.94037882e-02 2.80918728e-01 9.55558282e-01 4.91338004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.92719347 meters Centerline goodness : 0.897122 Centerline is valid? [False, False] Translation: X:0.01, Y:0.16, Z:0.02 [[ 0.99144191 0.06581483 -0.11274458 0.01143917] [-0.09226527 0.96423255 -0.2484808 0.1557737 ] [ 0.09235827 0.25675669 0.96205299 0.02399216] [ 0. 0. 0. 1. ]] SLAMing on 1.95719347 meters Centerline goodness : 0.903386 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.22, Z:0.03 [[ 0.99236696 0.05401013 -0.11086356 -0.0160226 ] [-0.07815598 0.97084197 -0.22662194 0.21805866] [ 0.09539112 0.23355678 0.96765271 0.02684806] [ 0. 0. 0. 1. ]] SLAMing on 1.98719347 meters Centerline goodness : 0.898560 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.30, Z:0.03 [[ 0.99156464 -0.01565726 -0.12866395 -0.04512793] [-0.0126114 0.97631196 -0.21599981 0.29685872] [ 0.12899812 0.2158004 0.96787896 0.03030862] [ 0. 0. 0. 1. ]] SLAMing on 2.0171934699999996 meters Centerline goodness : 0.884502 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.33, Z:0.04 [[ 0.99081221 0.01014077 -0.13486415 -0.02108117] [-0.03634983 0.98046027 -0.19332963 0.32664787] [ 0.13026843 0.19645564 0.97182062 0.03832659] [ 0. 0. 0. 1. ]] SLAMing on 2.04719347 meters Centerline goodness : 0.878613 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.32, Z:0.02 [[ 0.98983427 0.01604948 -0.14131714 -0.03081808] [-0.03974735 0.98523832 -0.16651005 0.32204616] [ 0.13655866 0.17043434 0.97586058 0.02397958] [ 0. 0. 0. 1. ]] SLAMing on 2.0771934699999997 meters Centerline goodness : 0.887966 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.31, Z:0.02 [[ 0.98954824 0.03436641 -0.14004723 -0.03126839] [-0.05518981 0.9875006 -0.14763687 0.31151043] [ 0.13322298 0.15382298 0.97907616 0.01880448] [ 0. 0. 0. 1. ]] SLAMing on 2.10719347 meters Centerline goodness : 0.894258 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.30, Z:0.02 [[ 0.98923933 0.04457117 -0.13935191 -0.03227315] [-0.0639643 0.98837206 -0.13794649 0.30091632] [ 0.13158309 0.14537564 0.98058748 0.01750985] [ 0. 0. 0. 1. ]] SLAMing on 2.1371934699999997 meters Centerline goodness : 0.892538 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.28, Z:0.00 [[ 0.98875602 0.05073006 -0.1406698 -0.02736857] [-0.0684109 0.98993994 -0.12385015 0.27719577] [ 0.13297173 0.13208093 0.98227957 0.00435382] [ 0. 0. 0. 1. ]] SLAMing on 2.16719347 meters Centerline goodness : 0.891775 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.25, Z:-0.01 [[ 0.98917943 0.05110279 -0.13752296 -0.01999662] [-0.06571984 0.99241015 -0.1039375 0.2487463 ] [ 0.13116769 0.11185082 0.98503017 -0.00683288] [ 0. 0. 0. 1. ]] SLAMing on 2.1971934699999998 meters Centerline goodness : 0.893593 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.23, Z:-0.01 [[ 0.99019662 0.04848813 -0.13099449 -0.01254825] [-0.06114525 0.99365521 -0.09439585 0.22502671] [ 0.12558628 0.10148014 0.98687885 -0.01434296] [ 0. 0. 0. 1. ]] SLAMing on 2.2271934699999996 meters Centerline goodness : 0.890649 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.20, Z:-0.02 [[ 0.98969786 0.04944116 -0.13436414 -0.00562523] [-0.0606 0.99492944 -0.08026865 0.19588805] [ 0.12971426 0.08758418 0.98767567 -0.02413002] [ 0. 0. 0. 1. ]] SLAMing on 2.25719347 meters Centerline goodness : 0.887709 Centerline is valid? [False, False] Translation: X:0.00, Y:0.18, Z:-0.03 [[ 0.98924802 0.04946215 -0.13762938 0.00101321] [-0.05899625 0.99606887 -0.0660776 0.17930721] [ 0.13382 0.07348675 0.98827724 -0.02623688] [ 0. 0. 0. 1. ]] SLAMing on 2.2871934699999996 meters Centerline goodness : 0.887805 Centerline is valid? [False, False] Translation: X:0.01, Y:0.16, Z:-0.03 [[ 0.98974843 0.03996211 -0.13711704 0.00845116] [-0.04810033 0.99723982 -0.05656058 0.15751235] [ 0.13447829 0.06257612 0.98893873 -0.03093859] [ 0. 0. 0. 1. ]] SLAMing on 2.31719347 meters Centerline goodness : 0.887192 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.03 [[ 0.98956292 0.02799894 -0.14135516 0.01906165] [-0.03545194 0.9980954 -0.05048497 0.14353092] [ 0.13967241 0.05496937 0.98867082 -0.03308048] [ 0. 0. 0. 1. ]] SLAMing on 2.3471934699999997 meters Centerline goodness : 0.886761 Centerline is valid? [False, False] Translation: X:0.03, Y:0.14, Z:-0.03 [[ 0.99024599 0.02411027 -0.13722817 0.02614391] [-0.03021894 0.99863481 -0.04260663 0.14040547] [ 0.13601357 0.04633793 0.98962271 -0.03323264] [ 0. 0. 0. 1. ]] SLAMing on 2.37719347 meters Centerline goodness : 0.888984 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.03 [[ 0.98953789 0.02312142 -0.14240847 0.03598506] [-0.02875669 0.99887748 -0.03764081 0.14468666] [ 0.1413783 0.0413422 0.98909201 -0.031125 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4071934699999997 meters Centerline goodness : 0.886479 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.03 [[ 0.9892763 0.03001199 -0.14293942 0.04105278] [-0.03499204 0.99886049 -0.03245436 0.15106316] [ 0.14180252 0.03710808 0.98919919 -0.03436253] [ 0. 0. 0. 1. ]] SLAMing on 2.4371934699999995 meters Centerline goodness : 0.889762 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:-0.03 [[ 0.98915704 0.03904625 -0.14157594 0.03888478] [-0.0432396 0.99870886 -0.02666357 0.16442201] [ 0.14035203 0.03249615 0.98956824 -0.03342554] [ 0. 0. 0. 1. ]] SLAMing on 2.4671934699999998 meters Centerline goodness : 0.889414 Centerline is valid? [False, False] Translation: X:0.04, Y:0.18, Z:-0.03 [[ 0.98883969 0.04695518 -0.14139055 0.0381725 ] [-0.0504804 0.99849473 -0.02144785 0.17627396] [ 0.14017063 0.02834594 0.98972153 -0.03162587] [ 0. 0. 0. 1. ]] SLAMing on 2.4971934699999996 meters Centerline goodness : 0.893081 Centerline is valid? [False, False] Translation: X:0.04, Y:0.19, Z:-0.03 [[ 0.98864224 0.05370016 -0.14036671 0.0355604 ] [-0.05696101 0.99818956 -0.01931459 0.18869917] [ 0.13907539 0.02709065 0.98991117 -0.0274848 ] [ 0. 0. 0. 1. ]] SLAMing on 2.52719347 meters Centerline goodness : 0.895491 Centerline is valid? [False, False] Translation: X:0.03, Y:0.20, Z:-0.02 [[ 0.98833671 0.06095952 -0.139551 0.03325321] [-0.06373069 0.99784719 -0.01547175 0.19778699] [ 0.13830742 0.02418498 0.99009401 -0.0244554 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5571934699999996 meters Centerline goodness : 0.896272 Centerline is valid? [False, False] Translation: X:0.03, Y:0.20, Z:-0.02 [[ 0.9880808 0.06535023 -0.13937604 0.03414042] [-0.06780186 0.99761528 -0.01290989 0.20322049] [ 0.13820001 0.02220597 0.99015537 -0.02473297] [ 0. 0. 0. 1. ]] SLAMing on 2.58719347 meters Centerline goodness : 0.896618 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98802689 0.06560167 -0.13963981 0.03535673] [-0.0681129 0.99758928 -0.01327601 0.20546464] [ 0.13843225 0.02262832 0.99011336 -0.0252204 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6171934699999997 meters Centerline goodness : 0.892703 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98791811 0.06658541 -0.13994355 0.03800282] [-0.06907695 0.9975264 -0.01301718 0.20792351] [ 0.13873063 0.02252679 0.99007391 -0.02689442] [ 0. 0. 0. 1. ]] SLAMing on 2.6471934699999995 meters Centerline goodness : 0.888431 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98787653 0.06722579 -0.13993092 0.03939402] [-0.06966926 0.99749017 -0.01263167 0.20823963] [ 0.13873055 0.02222741 0.99008069 -0.02818572] [ 0. 0. 0. 1. ]] SLAMing on 2.6771934699999997 meters Centerline goodness : 0.888738 Centerline is valid? [False, False] Translation: X:0.04, Y:0.21, Z:-0.03 [[ 0.98783491 0.06772645 -0.13998328 0.0399849 ] [-0.07008374 0.99746925 -0.01197366 0.20651834] [ 0.13881809 0.02163855 0.99008147 -0.02880512] [ 0. 0. 0. 1. ]] SLAMing on 2.7071934699999995 meters Centerline goodness : 0.892828 Centerline is valid? [False, False] Translation: X:0.05, Y:0.20, Z:-0.03 [[ 0.98901456 0.06402326 -0.13323372 0.04911219] [-0.06548993 0.99783107 -0.0066507 0.19836114] [ 0.13251894 0.01530311 0.99106233 -0.03055069] [ 0. 0. 0. 1. ]] SLAMing on 2.73719347 meters Centerline goodness : 0.894673 Centerline is valid? [False, False] Translation: X:0.06, Y:0.19, Z:-0.03 [[ 0.99026999 0.05651678 -0.12716601 0.0576971 ] [-0.05739095 0.9983466 -0.00321783 0.1858039 ] [ 0.1267739 0.0104847 0.99187623 -0.03209188] [ 0. 0. 0. 1. ]] SLAMing on 2.7671934699999996 meters Centerline goodness : 0.895474 Centerline is valid? [False, False] Translation: X:0.06, Y:0.18, Z:-0.03 [[ 0.99042742 0.05346718 -0.12725872 0.05838048] [-0.05448844 0.99850401 -0.00455491 0.17904675] [ 0.1268248 0.01144543 0.9918591 -0.03329419] [ 0. 0. 0. 1. ]] SLAMing on 2.79719347 meters Centerline goodness : 0.890228 Centerline is valid? [False, False] Translation: X:0.06, Y:0.16, Z:-0.04 [[ 9.90135182e-01 5.14858981e-02 -1.30313175e-01 6.36174140e-02] [-5.18752273e-02 9.98653491e-01 4.07358834e-04 1.64403405e-01] [ 1.30158680e-01 6.35668524e-03 9.91472799e-01 -3.73583319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8271934699999997 meters Centerline goodness : 0.890228 Centerline is valid? [False, False] Translation: X:0.06, Y:0.16, Z:-0.04 [[ 9.90135182e-01 5.14858981e-02 -1.30313175e-01 6.36174140e-02] [-5.18752273e-02 9.98653491e-01 4.07358834e-04 1.64403405e-01] [ 1.30158680e-01 6.35668524e-03 9.91472799e-01 -3.73583319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85719347 meters Centerline goodness : 0.888087 Centerline is valid? [False, False] Translation: X:0.08, Y:0.15, Z:-0.04 [[ 0.99051836 0.04986201 -0.12801237 0.0801746 ] [-0.04916956 0.99875371 0.00856569 0.14952581] [ 0.12827993 -0.00219016 0.99173558 -0.04073565] [ 0. 0. 0. 1. ]] SLAMing on 2.8871934699999997 meters Centerline goodness : 0.884358 Centerline is valid? [False, False] Translation: X:0.08, Y:0.14, Z:-0.04 [[ 0.99051432 0.04793969 -0.12877565 0.08345507] [-0.04735461 0.9988492 0.00760312 0.14285266] [ 0.12899195 -0.00143288 0.99164461 -0.04284464] [ 0. 0. 0. 1. ]] SLAMing on 2.9171934699999995 meters Centerline goodness : 0.879614 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-0.05 [[ 0.99025338 0.0475687 -0.13090246 0.09152805] [-0.04702375 0.99886744 0.00725268 0.12845151] [ 0.1310992 -0.00102646 0.99136872 -0.04570186] [ 0. 0. 0. 1. ]] SLAMing on 2.9471934699999998 meters Centerline goodness : 0.882797 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.05 [[ 0.99136773 0.04288142 -0.1239 0.099568 ] [-0.04174631 0.99905921 0.01174441 0.11423688] [ 0.12428706 -0.00647067 0.99222521 -0.04615856] [ 0. 0. 0. 1. ]] SLAMing on 2.9771934699999996 meters Centerline goodness : 0.882160 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:-0.05 [[ 0.99235952 0.03780257 -0.11744598 0.10879028] [-0.03611761 0.99921227 0.01644275 0.10799524] [ 0.11797504 -0.01207525 0.99294314 -0.04731895] [ 0. 0. 0. 1. ]] SLAMing on 3.00719347 meters Centerline goodness : 0.879848 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.05 [[ 0.99348037 0.02773426 -0.11057831 0.11627982] [-0.02589664 0.99950219 0.01802033 0.09698162] [ 0.11102304 -0.01503924 0.99370403 -0.04831558] [ 0. 0. 0. 1. ]] SLAMing on 3.0371934699999996 meters Centerline goodness : 0.882753 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.05 [[ 0.9944078 0.01963152 -0.10376771 0.12510903] [-0.01765473 0.9996454 0.01993455 0.08691795] [ 0.10412226 -0.01799108 0.99440177 -0.04948816] [ 0. 0. 0. 1. ]] SLAMing on 3.06719347 meters Centerline goodness : 0.882499 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.05 [[ 0.994371 0.01837541 -0.10434877 0.12743688] [-0.01656474 0.99969728 0.01819234 0.08493415] [ 0.10465147 -0.01636143 0.99437436 -0.05043107] [ 0. 0. 0. 1. ]] SLAMing on 3.0971934699999997 meters Centerline goodness : 0.888685 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.05 [[ 0.9942565 0.02304979 -0.10451186 0.12841104] [-0.02084641 0.99953782 0.02212633 0.08584354] [ 0.10497356 -0.01982056 0.99427747 -0.05099428] [ 0. 0. 0. 1. ]] SLAMing on 3.12719347 meters Centerline goodness : 0.882903 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.06 [[ 0.99383989 0.0355559 -0.10496689 0.12622088] [-0.03349732 0.99921159 0.02131051 0.09245552] [ 0.10564184 -0.01766312 0.99424736 -0.05676849] [ 0. 0. 0. 1. ]] SLAMing on 3.1571934699999997 meters Centerline goodness : 0.879926 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.06 [[ 0.99366721 0.04000308 -0.10500107 0.12760361] [-0.03760351 0.99898657 0.02473464 0.09495937] [ 0.10588412 -0.02062959 0.99416446 -0.05791316] [ 0. 0. 0. 1. ]] SLAMing on 3.1871934699999995 meters Centerline goodness : 0.882699 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.06 [[ 0.99361285 0.04309835 -0.10428821 0.12512093] [-0.04052476 0.99882246 0.02667292 0.09900115] [ 0.10531496 -0.0222763 0.99418938 -0.05645931] [ 0. 0. 0. 1. ]] SLAMing on 3.2171934699999998 meters Centerline goodness : 0.886852 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:-0.05 [[ 0.99391559 0.03726004 -0.10365079 0.12454966] [-0.03600665 0.99925435 0.01393806 0.10374864] [ 0.10409283 -0.01012113 0.99451609 -0.04865218] [ 0. 0. 0. 1. ]] SLAMing on 3.2471934699999996 meters Centerline goodness : 0.890482 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-0.05 [[ 0.99403177 0.0329103 -0.1040084 0.12494587] [-0.03210345 0.99944014 0.00942254 0.10598587] [ 0.10426026 -0.00602728 0.99453178 -0.04846668] [ 0. 0. 0. 1. ]] SLAMing on 3.27719347 meters Centerline goodness : 0.886810 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99403087 0.03256949 -0.10412422 0.12506469] [-0.0318159 0.9994542 0.00889054 0.10733809] [ 0.10435695 -0.00552467 0.99452456 -0.04833918] [ 0. 0. 0. 1. ]] SLAMing on 3.3071934699999996 meters Centerline goodness : 0.888049 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99388654 0.03686295 -0.10407053 0.12586089] [-0.03576651 0.99928346 0.01238273 0.10919613] [ 0.10445242 -0.00858479 0.99449283 -0.0490295 ] [ 0. 0. 0. 1. ]] SLAMing on 3.33719347 meters Centerline goodness : 0.886973 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99376041 0.04011729 -0.10407141 0.12815698] [-0.03880198 0.99913977 0.01463325 0.11152123] [ 0.10456893 -0.01050377 0.99446217 -0.0510533 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3671934699999997 meters Centerline goodness : 0.887857 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99375723 0.04002687 -0.10413651 0.12858924] [-0.03874999 0.99914723 0.01425676 0.11268514] [ 0.10461835 -0.01013247 0.99446083 -0.05140075] [ 0. 0. 0. 1. ]] SLAMing on 3.3971934699999995 meters Centerline goodness : 0.878945 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.05 [[ 0.99382803 0.03677155 -0.10465994 0.1312381 ] [-0.03581185 0.99929763 0.01103478 0.11348614] [ 0.10499219 -0.00721861 0.99444685 -0.05329277] [ 0. 0. 0. 1. ]] SLAMing on 3.4271934699999997 meters Centerline goodness : 0.873962 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.05 [[ 0.99340394 0.02889843 -0.11096622 0.14168035] [-0.02791325 0.99955602 0.01042178 0.11103181] [ 0.11121813 -0.00725561 0.99376953 -0.05248753] [ 0. 0. 0. 1. ]] SLAMing on 3.4571934699999995 meters Centerline goodness : 0.874194 Centerline is valid? [False, False] Translation: X:0.15, Y:0.11, Z:-0.05 [[ 0.99416574 0.01661897 -0.10657529 0.14992417] [-0.01556324 0.99982131 0.01073008 0.10748238] [ 0.10673457 -0.00900883 0.99424674 -0.05332935] [ 0. 0. 0. 1. ]] SLAMing on 3.48719347 meters Centerline goodness : 0.873870 Centerline is valid? [False, False] Translation: X:0.16, Y:0.11, Z:-0.06 [[ 0.99482411 0.00944339 -0.10117216 0.1595365 ] [-0.00805163 0.99986738 0.01415596 0.1056141 ] [ 0.10129242 -0.01326809 0.99476822 -0.05516853] [ 0. 0. 0. 1. ]] SLAMing on 3.5171934699999996 meters Centerline goodness : 0.875235 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.06 [[ 9.95381447e-01 -8.65988840e-04 -9.59949244e-02 1.69709499e-01] [ 2.30590342e-03 9.99886479e-01 1.48899846e-02 1.03357668e-01] [ 9.59711324e-02 -1.50425695e-02 9.95270447e-01 -5.73309262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54719347 meters Centerline goodness : 0.871470 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.06 [[ 0.99533443 -0.00479144 -0.09636608 0.17157276] [ 0.00590736 0.99991872 0.0112981 0.10370726] [ 0.09630411 -0.01181466 0.99528184 -0.05846297] [ 0. 0. 0. 1. ]] SLAMing on 3.5771934699999997 meters Centerline goodness : 0.871380 Centerline is valid? [False, False] Translation: X:0.17, Y:0.11, Z:-0.06 [[ 0.99526357 -0.00869754 -0.09682341 0.17389894] [ 0.00946895 0.99992696 0.00751048 0.10637108] [ 0.09675102 -0.00839172 0.99527324 -0.05984486] [ 0. 0. 0. 1. ]] SLAMing on 3.6071934699999995 meters Centerline goodness : 0.875710 Centerline is valid? [False, False] Translation: X:0.18, Y:0.11, Z:-0.06 [[ 0.99644828 -0.01046453 -0.08355427 0.17557938] [ 0.01109917 0.99991295 0.00713462 0.11151977] [ 0.08347234 -0.00803667 0.99647769 -0.06286158] [ 0. 0. 0. 1. ]] SLAMing on 3.6371934699999997 meters Centerline goodness : 0.875335 Centerline is valid? [False, False] Translation: X:0.18, Y:0.12, Z:-0.06 [[ 0.99643265 -0.01095934 -0.08367713 0.17568539] [ 0.01148983 0.99991681 0.00586082 0.11550714] [ 0.08360594 -0.00680135 0.99647568 -0.06265406] [ 0. 0. 0. 1. ]] SLAMing on 3.6671934699999995 meters Centerline goodness : 0.875918 Centerline is valid? [False, False] Translation: X:0.18, Y:0.12, Z:-0.06 [[ 0.99644341 -0.00957028 -0.08371945 0.17587458] [ 0.01007693 0.99993337 0.00563123 0.12497046] [ 0.08365998 -0.00645483 0.99647345 -0.06281093] [ 0. 0. 0. 1. ]] SLAMing on 3.6971934699999998 meters Centerline goodness : 0.878045 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-0.06 [[ 0.99650533 -0.00816477 -0.08312922 0.17503047] [ 0.00861538 0.99995007 0.00506333 0.13774622] [ 0.08308373 -0.00576182 0.99652591 -0.0631739 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7271934699999996 meters Centerline goodness : 0.880433 Centerline is valid? [False, False] Translation: X:0.17, Y:0.15, Z:-0.06 [[ 0.99652415 -0.00553494 -0.08312025 0.17427271] [ 0.00606825 0.99996259 0.0061648 0.14520598] [ 0.08308302 -0.00664777 0.99652046 -0.06232903] [ 0. 0. 0. 1. ]] SLAMing on 3.75719347 meters Centerline goodness : 0.883847 Centerline is valid? [False, False] Translation: X:0.17, Y:0.16, Z:-0.06 [[ 9.96574480e-01 -5.20941342e-04 -8.26984601e-02 1.73451301e-01] [ 1.13754050e-03 9.99971906e-01 7.40905118e-03 1.61563081e-01] [ 8.26922771e-02 -7.47774417e-03 9.96547074e-01 -6.13471953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7871934699999996 meters Centerline goodness : 0.885456 Centerline is valid? [False, False] Translation: X:0.17, Y:0.18, Z:-0.06 [[ 0.99672992 -0.00166365 -0.08078801 0.16883448] [ 0.00213625 0.99998111 0.00576378 0.1770552 ] [ 0.08077689 -0.00591752 0.99671464 -0.06144264] [ 0. 0. 0. 1. ]] SLAMing on 3.81719347 meters Centerline goodness : 0.886751 Centerline is valid? [False, False] Translation: X:0.18, Y:0.18, Z:-0.06 [[ 0.9971221 -0.00616401 -0.07556144 0.17763674] [ 0.00705369 0.99990884 0.011513 0.18371692] [ 0.07548358 -0.01201285 0.99707468 -0.06364267] [ 0. 0. 0. 1. ]] SLAMing on 3.8471934699999997 meters Centerline goodness : 0.888687 Centerline is valid? [False, False] Translation: X:0.18, Y:0.20, Z:-0.07 [[ 0.99752767 -0.01837171 -0.06783085 0.18178133] [ 0.01913455 0.99976058 0.01061356 0.19676019] [ 0.06761962 -0.01188523 0.99764038 -0.065728 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8771934699999995 meters Centerline goodness : 0.891143 Centerline is valid? [False, False] Translation: X:0.19, Y:0.21, Z:-0.07 [[ 0.99810474 -0.02433797 -0.05652075 0.18507611] [ 0.02452664 0.99969567 0.00264653 0.21179712] [ 0.05643913 -0.00402778 0.99839792 -0.06748503] [ 0. 0. 0. 1. ]] SLAMing on 3.9071934699999997 meters Centerline goodness : 0.893505 Centerline is valid? [False, False] Translation: X:0.19, Y:0.23, Z:-0.07 [[ 9.98121261e-01 -2.30330695e-02 -5.67752211e-02 1.85606060e-01] [ 2.30200420e-02 9.99734613e-01 -8.83545321e-04 2.28850434e-01] [ 5.67805044e-02 -4.25082605e-04 9.98386595e-01 -6.54488982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9371934699999995 meters Centerline goodness : 0.893846 Centerline is valid? [False, False] Translation: X:0.19, Y:0.24, Z:-0.07 [[ 9.98167207e-01 -1.99199898e-02 -5.71438617e-02 1.87156468e-01] [ 1.99826018e-02 9.99800190e-01 5.24435375e-04 2.37275918e-01] [ 5.71219970e-02 -1.66535723e-03 9.98365817e-01 -6.65159938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9671934699999998 meters Centerline goodness : 0.891688 Centerline is valid? [False, False] Translation: X:0.19, Y:0.26, Z:-0.07 [[ 9.98238129e-01 -1.30423137e-02 -5.78838049e-02 1.89200071e-01] [ 1.30922875e-02 9.99914175e-01 4.84180647e-04 2.57179476e-01] [ 5.78725222e-02 -1.24115900e-03 9.98323210e-01 -6.65526350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9971934699999996 meters Centerline goodness : 0.891213 Centerline is valid? [False, False] Translation: X:0.19, Y:0.27, Z:-0.06 [[ 9.98352676e-01 -8.58874245e-03 -5.67288987e-02 1.86348953e-01] [ 8.63581117e-03 9.99962540e-01 5.84613445e-04 2.74952052e-01] [ 5.67217525e-02 -1.07355045e-03 9.98389448e-01 -6.35388548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027193469999999 meters Centerline goodness : 0.891048 Centerline is valid? [False, False] Translation: X:0.19, Y:0.28, Z:-0.06 [[ 9.98322902e-01 -8.35204717e-03 -5.72854890e-02 1.88201902e-01] [ 8.35328022e-03 9.99965087e-01 -2.17937055e-04 2.81675452e-01] [ 5.72853092e-02 -2.60950189e-04 9.98357814e-01 -6.44463086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05719347 meters Centerline goodness : 0.883032 Centerline is valid? [False, False] Translation: X:0.22, Y:0.29, Z:-0.07 [[ 0.99837015 -0.01045301 -0.05610503 0.22085886] [ 0.01115335 0.99986357 0.01218411 0.28993514] [ 0.05597002 -0.01279001 0.99835053 -0.06945692] [ 0. 0. 0. 1. ]] SLAMing on 4.08719347 meters Centerline goodness : 0.878878 Centerline is valid? [False, False] Translation: X:0.24, Y:0.29, Z:-0.08 [[ 0.99881904 -0.00716418 -0.04805418 0.24491263] [ 0.00908313 0.99916501 0.03983431 0.29223199] [ 0.04772867 -0.04022375 0.99805011 -0.08027158] [ 0. 0. 0. 1. ]] SLAMing on 4.117193469999999 meters Centerline goodness : 0.875075 Centerline is valid? [False, False] Translation: X:0.25, Y:0.30, Z:-0.08 [[ 0.99879442 -0.00783136 -0.04846 0.24575781] [ 0.00968787 0.99922335 0.03819483 0.29767389] [ 0.04812325 -0.03861826 0.99809458 -0.08042938] [ 0. 0. 0. 1. ]] SLAMing on 4.1471934699999995 meters Centerline goodness : 0.864011 Centerline is valid? [False, False] Translation: X:0.25, Y:0.31, Z:-0.08 [[ 0.99879418 -0.00549744 -0.04878478 0.24883765] [ 0.00742467 0.99919546 0.03941201 0.30536886] [ 0.04852887 -0.03972669 0.99803143 -0.08359388] [ 0. 0. 0. 1. ]] SLAMing on 4.17719347 meters Centerline goodness : 0.859752 Centerline is valid? [False, False] Translation: X:0.26, Y:0.31, Z:-0.09 [[ 0.99874584 -0.00375025 -0.04992679 0.25552933] [ 0.00573564 0.99919589 0.03968225 0.31198225] [ 0.04973783 -0.03991885 0.99796424 -0.08913245] [ 0. 0. 0. 1. ]] SLAMing on 4.20719347 meters Centerline goodness : 0.860482 Centerline is valid? [False, False] Translation: X:0.26, Y:0.32, Z:-0.09 [[ 0.99872337 -0.0036672 -0.05038034 0.25771374] [ 0.00564709 0.99921493 0.0392128 0.31509208] [ 0.05019699 -0.03944724 0.99796001 -0.0908596 ] [ 0. 0. 0. 1. ]] SLAMing on 4.237193469999999 meters Centerline goodness : 0.855102 Centerline is valid? [False, False] Translation: X:0.26, Y:0.32, Z:-0.10 [[ 0.99913911 -0.01438765 -0.03891063 0.26040771] [ 0.01569693 0.99931361 0.03355479 0.32456721] [ 0.03840115 -0.03413668 0.99867915 -0.09783948] [ 0. 0. 0. 1. ]] SLAMing on 4.26719347 meters Centerline goodness : 0.857206 Centerline is valid? [False, False] Translation: X:0.26, Y:0.33, Z:-0.09 [[ 0.99902749 -0.0207658 -0.03889543 0.25792191] [ 0.02170457 0.9994794 0.02387121 0.33280496] [ 0.03837947 -0.0246922 0.99895811 -0.09126093] [ 0. 0. 0. 1. ]] SLAMing on 4.29719347 meters Centerline goodness : 0.855734 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.08 [[ 0.99882491 -0.02924598 -0.03864558 0.25753715] [ 0.02965218 0.99951046 0.00997955 0.34167098] [ 0.0383348 -0.01111374 0.99920315 -0.08381997] [ 0. 0. 0. 1. ]] SLAMing on 4.32719347 meters Centerline goodness : 0.859127 Centerline is valid? [False, False] Translation: X:0.26, Y:0.35, Z:-0.08 [[ 0.99867898 -0.03332903 -0.03910855 0.25858973] [ 0.03355036 0.99942444 0.00501668 0.34510576] [ 0.03891884 -0.00632215 0.99922237 -0.08327685] [ 0. 0. 0. 1. ]] SLAMing on 4.3571934699999995 meters Centerline goodness : 0.858049 Centerline is valid? [False, False] Translation: X:0.26, Y:0.35, Z:-0.08 [[ 9.98523818e-01 -3.78703224e-02 -3.89361571e-02 2.57861536e-01] [ 3.78178852e-02 9.99282478e-01 -2.08265358e-03 3.51942952e-01] [ 3.89870903e-02 6.07096087e-04 9.99239530e-01 -8.02247009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38719347 meters Centerline goodness : 0.865263 Centerline is valid? [False, False] Translation: X:0.26, Y:0.36, Z:-0.08 [[ 9.99066379e-01 -3.52735329e-02 -2.49429014e-02 2.56582154e-01] [ 3.52659968e-02 9.99377686e-01 -7.42094814e-04 3.55738740e-01] [ 2.49535554e-02 -1.38234302e-04 9.99688602e-01 -8.05678881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41719347 meters Centerline goodness : 0.870274 Centerline is valid? [False, False] Translation: X:0.26, Y:0.36, Z:-0.08 [[ 0.99904475 -0.03562458 -0.02530748 0.25604501] [ 0.03558551 0.99936465 -0.00199249 0.35897243] [ 0.02536238 0.00109 0.99967773 -0.0786114 ] [ 0. 0. 0. 1. ]] SLAMing on 4.447193469999999 meters Centerline goodness : 0.865373 Centerline is valid? [False, False] Translation: X:0.26, Y:0.36, Z:-0.08 [[ 0.99918128 -0.03097165 -0.0260294 0.25762938] [ 0.03102245 0.99951749 0.00155007 0.36295973] [ 0.02596883 -0.00235629 0.99965998 -0.07897321] [ 0. 0. 0. 1. ]] SLAMing on 4.47719347 meters Centerline goodness : 0.864632 Centerline is valid? [False, False] Translation: X:0.26, Y:0.37, Z:-0.08 [[ 0.99943334 -0.01860039 -0.02805382 0.25819243] [ 0.0184591 0.99981564 -0.00528696 0.36599799] [ 0.02814699 0.00476612 0.99959243 -0.0782564 ] [ 0. 0. 0. 1. ]] SLAMing on 4.50719347 meters Centerline goodness : 0.864877 Centerline is valid? [False, False] Translation: X:0.26, Y:0.37, Z:-0.08 [[ 9.99506995e-01 -1.19768328e-02 -2.90227748e-02 2.61998227e-01] [ 1.19683531e-02 9.99928268e-01 -4.65877181e-04 3.67262571e-01] [ 2.90262726e-02 1.18292687e-04 9.99578642e-01 -7.97623184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53719347 meters Centerline goodness : 0.861270 Centerline is valid? [False, False] Translation: X:0.27, Y:0.37, Z:-0.08 [[ 9.99492222e-01 -1.03813705e-02 -3.01251589e-02 2.65656984e-01] [ 1.03988068e-02 9.99945842e-01 4.22179934e-04 3.67727854e-01] [ 3.01191445e-02 -7.35231267e-04 9.99546045e-01 -8.13752861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567193469999999 meters Centerline goodness : 0.857759 Centerline is valid? [False, False] Translation: X:0.27, Y:0.37, Z:-0.08 [[ 0.99947789 -0.00747342 -0.03143399 0.27110301] [ 0.00756565 0.99996741 0.0028162 0.36582596] [ 0.03141192 -0.00305255 0.99950186 -0.08455034] [ 0. 0. 0. 1. ]] SLAMing on 4.59719347 meters Centerline goodness : 0.853489 Centerline is valid? [False, False] Translation: X:0.27, Y:0.36, Z:-0.08 [[ 9.99433405e-01 -1.09007091e-02 -3.18440564e-02 2.71653498e-01] [ 1.09129675e-02 9.99940429e-01 2.11169603e-04 3.59388803e-01] [ 3.18398575e-02 -5.58563109e-04 9.99492827e-01 -8.40095187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62719347 meters Centerline goodness : 0.855218 Centerline is valid? [False, False] Translation: X:0.27, Y:0.36, Z:-0.08 [[ 0.99929808 -0.01861639 -0.03250799 0.27175242] [ 0.01839561 0.99980573 -0.00707777 0.35568383] [ 0.03263344 0.00647479 0.99944641 -0.08195291] [ 0. 0. 0. 1. ]] SLAMing on 4.657193469999999 meters Centerline goodness : 0.861720 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.08 [[ 0.99917901 -0.02887968 -0.02841258 0.26385493] [ 0.02864279 0.99955177 -0.00870958 0.33965971] [ 0.02865138 0.00788862 0.99955834 -0.0808577 ] [ 0. 0. 0. 1. ]] SLAMing on 4.6871934699999995 meters Centerline goodness : 0.866946 Centerline is valid? [False, False] Translation: X:0.26, Y:0.33, Z:-0.08 [[ 0.99870286 -0.04308292 -0.02713797 0.26023849] [ 0.04262517 0.99894262 -0.01722619 0.32797869] [ 0.02785142 0.01604708 0.99948326 -0.07607584] [ 0. 0. 0. 1. ]] SLAMing on 4.71719347 meters Centerline goodness : 0.864955 Centerline is valid? [False, False] Translation: X:0.26, Y:0.32, Z:-0.08 [[ 0.99852569 -0.04762401 -0.02604609 0.25836706] [ 0.0470906 0.99867563 -0.02072345 0.32196335] [ 0.02699853 0.01946637 0.99944592 -0.07510793] [ 0. 0. 0. 1. ]] SLAMing on 4.74719347 meters Centerline goodness : 0.870976 Centerline is valid? [False, False] Translation: X:0.24, Y:0.31, Z:-0.07 [[ 0.99842238 -0.04771905 -0.02959129 0.2437028 ] [ 0.04674674 0.99837065 -0.03272282 0.31024699] [ 0.03110458 0.0312879 0.99902631 -0.06651674] [ 0. 0. 0. 1. ]] SLAMing on 4.777193469999999 meters Centerline goodness : 0.870976 Centerline is valid? [False, False] Translation: X:0.24, Y:0.31, Z:-0.07 [[ 0.99842238 -0.04771905 -0.02959129 0.2437028 ] [ 0.04674674 0.99837065 -0.03272282 0.31024699] [ 0.03110458 0.0312879 0.99902631 -0.06651674] [ 0. 0. 0. 1. ]] SLAMing on 4.80719347 meters Centerline goodness : 0.871285 Centerline is valid? [False, False] Translation: X:0.22, Y:0.30, Z:-0.06 [[ 0.99861851 -0.04591503 -0.02555151 0.22287528] [ 0.04458711 0.9977376 -0.05031578 0.30206656] [ 0.02780395 0.049107 0.99840645 -0.05947972] [ 0. 0. 0. 1. ]] SLAMing on 4.83719347 meters Centerline goodness : 0.872633 Centerline is valid? [False, False] Translation: X:0.22, Y:0.30, Z:-0.06 [[ 0.99881534 -0.04133656 -0.02567499 0.22293149] [ 0.04015963 0.99818946 -0.04477733 0.296565 ] [ 0.02747944 0.04369319 0.998667 -0.06010534] [ 0. 0. 0. 1. ]] SLAMing on 4.867193469999999 meters Centerline goodness : 0.884701 Centerline is valid? [False, False] Translation: X:0.22, Y:0.29, Z:-0.06 [[ 0.99901815 -0.035879 -0.02598892 0.22276199] [ 0.03486858 0.99865618 -0.03834082 0.28934685] [ 0.02732962 0.03739698 0.9989267 -0.05981109] [ 0. 0. 0. 1. ]] SLAMing on 4.8971934699999995 meters Centerline goodness : 0.893073 Centerline is valid? [False, False] Translation: X:0.22, Y:0.28, Z:-0.06 [[ 0.99908654 -0.03417767 -0.02565114 0.22028787] [ 0.033254 0.99881232 -0.03561071 0.28162383] [ 0.02683777 0.03472518 0.99903648 -0.05774374] [ 0. 0. 0. 1. ]] SLAMing on 4.92719347 meters Centerline goodness : 0.892050 Centerline is valid? [False, False] Translation: X:0.23, Y:0.28, Z:-0.06 [[ 0.99916078 -0.03540102 -0.02060352 0.22871081] [ 0.034908 0.99910672 -0.0238158 0.27512729] [ 0.02142822 0.02307659 0.99950403 -0.06168844] [ 0. 0. 0. 1. ]] SLAMing on 4.95719347 meters Centerline goodness : 0.894808 Centerline is valid? [False, False] Translation: X:0.24, Y:0.26, Z:-0.07 [[ 0.9990735 -0.04002211 -0.01582314 0.23891231] [ 0.03979411 0.99910311 -0.01447056 0.2646526 ] [ 0.01638809 0.01382748 0.99977009 -0.0671486 ] [ 0. 0. 0. 1. ]] SLAMing on 4.987193469999999 meters Centerline goodness : 0.890091 Centerline is valid? [False, False] Translation: X:0.25, Y:0.26, Z:-0.08 [[ 0.99892246 -0.04403397 -0.01466047 0.25266604] [ 0.04400992 0.99902917 -0.00195908 0.25694474] [ 0.0147325 0.00131176 0.99989061 -0.07599216] [ 0. 0. 0. 1. ]] SLAMing on 5.01719347 meters Centerline goodness : 0.888445 Centerline is valid? [False, False] Translation: X:0.25, Y:0.25, Z:-0.08 [[ 9.98934246e-01 -4.37289560e-02 -1.47699368e-02 2.53638106e-01] [ 4.37215029e-02 9.99043415e-01 -8.27295003e-04 2.54181128e-01] [ 1.47919849e-02 1.80649475e-04 9.99890576e-01 -7.71806700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04719347 meters Centerline goodness : 0.888597 Centerline is valid? [False, False] Translation: X:0.26, Y:0.25, Z:-0.08 [[ 0.99885018 -0.04707135 -0.00908928 0.26408473] [ 0.04713888 0.9988612 0.00736371 0.24902468] [ 0.00873231 -0.0077837 0.99993158 -0.08133243] [ 0. 0. 0. 1. ]] SLAMing on 5.077193469999999 meters Centerline goodness : 0.891448 Centerline is valid? [False, False] Translation: X:0.26, Y:0.25, Z:-0.08 [[ 0.99886023 -0.04686369 -0.00905774 0.26430056] [ 0.04693913 0.99886323 0.00830405 0.24573673] [ 0.00865828 -0.00871974 0.9999245 -0.08176402] [ 0. 0. 0. 1. ]] SLAMing on 5.1071934699999995 meters Centerline goodness : 0.888690 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.08 [[ 0.99889397 -0.04601091 -0.00968677 0.26745012] [ 0.04610002 0.99889459 0.00918582 0.24697502] [ 0.00925341 -0.00962222 0.99991089 -0.0846062 ] [ 0. 0. 0. 1. ]] SLAMing on 5.13719347 meters Centerline goodness : 0.890126 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99905093 -0.04243495 -0.0098239 0.26761673] [ 0.04256086 0.99900951 0.01298347 0.24739767] [ 0.00926322 -0.01338927 0.99986745 -0.085119 ] [ 0. 0. 0. 1. ]] SLAMing on 5.16719347 meters Centerline goodness : 0.889036 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.08 [[ 0.99920837 -0.03858524 -0.00968592 0.26681993] [ 0.03873335 0.99912779 0.01560096 0.25170123] [ 0.00907551 -0.01596377 0.99983138 -0.08462158] [ 0. 0. 0. 1. ]] SLAMing on 5.197193469999999 meters Centerline goodness : 0.885528 Centerline is valid? [False, False] Translation: X:0.25, Y:0.26, Z:-0.09 [[ 0.99969756 -0.02432941 -0.00358807 0.25411421] [ 0.02435349 0.99968009 0.00682826 0.25828191] [ 0.00342079 -0.00691358 0.99997025 -0.08647058] [ 0. 0. 0. 1. ]] SLAMing on 5.22719347 meters Centerline goodness : 0.886234 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.09 [[ 0.99980285 -0.01939024 -0.00427435 0.25634606] [ 0.01943403 0.99975649 0.01045409 0.26240801] [ 0.0040706 -0.0105351 0.99993622 -0.08787969] [ 0. 0. 0. 1. ]] SLAMing on 5.25719347 meters Centerline goodness : 0.883631 Centerline is valid? [False, False] Translation: X:0.26, Y:0.27, Z:-0.09 [[ 0.99994015 -0.00800354 -0.00745891 0.25540623] [ 0.00803525 0.99995876 0.00423136 0.27129368] [ 0.00742473 -0.00429104 0.99996323 -0.08852107] [ 0. 0. 0. 1. ]] SLAMing on 5.287193469999999 meters Centerline goodness : 0.878865 Centerline is valid? [False, False] Translation: X:0.26, Y:0.28, Z:-0.09 [[ 0.9999456 -0.00686685 -0.00785107 0.25857897] [ 0.00690311 0.99996559 0.00460103 0.27636917] [ 0.00781921 -0.00465498 0.99995859 -0.09177324] [ 0. 0. 0. 1. ]] SLAMing on 5.317193469999999 meters Centerline goodness : 0.875786 Centerline is valid? [False, False] Translation: X:0.26, Y:0.28, Z:-0.09 [[ 0.99994453 -0.00695128 -0.00791288 0.25931748] [ 0.00698812 0.99996483 0.00463671 0.27681905] [ 0.00788037 -0.00469175 0.99995794 -0.09274949] [ 0. 0. 0. 1. ]] SLAMing on 5.34719347 meters Centerline goodness : 0.879672 Centerline is valid? [False, False] Translation: X:0.26, Y:0.27, Z:-0.09 [[ 9.99896717e-01 -1.23221178e-02 -7.39739201e-03 2.56659430e-01] [ 1.23228308e-02 9.99924070e-01 5.08241290e-05 2.74275305e-01] [ 7.39620407e-03 -1.41975690e-04 9.99972638e-01 -9.04482063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37719347 meters Centerline goodness : 0.883486 Centerline is valid? [False, False] Translation: X:0.26, Y:0.27, Z:-0.09 [[ 9.99782674e-01 -2.08253728e-02 -9.53436192e-04 2.64510031e-01] [ 2.08278071e-02 9.99779648e-01 2.61867758e-03 2.67351459e-01] [ 8.98691164e-04 -2.63796646e-03 9.99996117e-01 -9.11559082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407193469999999 meters Centerline goodness : 0.888316 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.09 [[ 9.99778222e-01 -2.10358893e-02 -9.98693298e-04 2.64101437e-01] [ 2.10393127e-02 9.99772343e-01 3.55098755e-03 2.63419134e-01] [ 9.23767758e-04 -3.57121184e-03 9.99993197e-01 -9.07089362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4371934699999995 meters Centerline goodness : 0.886564 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.09 [[ 9.99687031e-01 -2.50037170e-02 -8.08576206e-04 2.63220723e-01] [ 2.50042761e-02 9.99687107e-01 6.88949537e-04 2.59357699e-01] [ 7.91096909e-04 -7.08951780e-04 9.99999436e-01 -8.96060912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46719347 meters Centerline goodness : 0.887792 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99949514 -0.03141749 0.00473332 0.27380339] [ 0.03138607 0.99948573 0.006572 0.25344596] [-0.00493736 -0.00642012 0.9999672 -0.09407924] [ 0. 0. 0. 1. ]] SLAMing on 5.49719347 meters Centerline goodness : 0.889408 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99948073 -0.03186209 0.004803 0.27343004] [ 0.03182581 0.99946567 0.00744999 0.24972228] [-0.00503781 -0.00729326 0.99996071 -0.09398747] [ 0. 0. 0. 1. ]] SLAMing on 5.527193469999999 meters Centerline goodness : 0.886902 Centerline is valid? [False, False] Translation: X:0.27, Y:0.25, Z:-0.09 [[ 0.99933539 -0.03612978 0.00483814 0.27315809] [ 0.03610881 0.99933838 0.00435415 0.24637217] [-0.00499226 -0.00417656 0.99997882 -0.09338638] [ 0. 0. 0. 1. ]] SLAMing on 5.55719347 meters Centerline goodness : 0.888838 Centerline is valid? [False, False] Translation: X:0.27, Y:0.24, Z:-0.09 [[ 0.999346 -0.03584895 0.00473541 0.27399276] [ 0.03582486 0.99934518 0.0050779 0.2439645 ] [-0.00491435 -0.00490493 0.9999759 -0.09434497] [ 0. 0. 0. 1. ]] SLAMing on 5.58719347 meters Centerline goodness : 0.886406 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99950526 -0.03114971 0.00435202 0.27571264] [ 0.03110935 0.99947499 0.00905304 0.24573967] [-0.00463173 -0.00891318 0.99994955 -0.0959833 ] [ 0. 0. 0. 1. ]] SLAMing on 5.617193469999999 meters Centerline goodness : 0.885069 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99962584 -0.02705235 0.00404261 0.27679224] [ 0.02699817 0.99955219 0.01290444 0.24668897] [-0.00438989 -0.01279047 0.99990856 -0.09704365] [ 0. 0. 0. 1. ]] SLAMing on 5.6471934699999995 meters Centerline goodness : 0.880902 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99971784 -0.02353833 0.00319297 0.2807774 ] [ 0.02348529 0.99960026 0.01574021 0.24980682] [-0.00356219 -0.01566078 0.99987102 -0.10037209] [ 0. 0. 0. 1. ]] SLAMing on 5.67719347 meters Centerline goodness : 0.874356 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99968576 -0.02492918 0.00263196 0.28324654] [ 0.02488886 0.99958687 0.01437481 0.2510314 ] [-0.00298923 -0.01430479 0.99989321 -0.10223729] [ 0. 0. 0. 1. ]] SLAMing on 5.70719347 meters Centerline goodness : 0.874156 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99969295 -0.02468369 0.00217332 0.28478417] [ 0.02464872 0.99958562 0.01486728 0.25009282] [-0.00253939 -0.01480915 0.99988711 -0.10326071] [ 0. 0. 0. 1. ]] SLAMing on 5.737193469999999 meters Centerline goodness : 0.873693 Centerline is valid? [False, False] Translation: X:0.29, Y:0.25, Z:-0.10 [[ 0.99971076 -0.02399394 0.00163754 0.28677498] [ 0.02396524 0.99958894 0.0157361 0.24904639] [-0.00201444 -0.01569231 0.99987484 -0.1046449 ] [ 0. 0. 0. 1. ]] SLAMing on 5.76719347 meters Centerline goodness : 0.874087 Centerline is valid? [False, False] Translation: X:0.29, Y:0.25, Z:-0.10 [[ 0.99970961 -0.02405059 0.00150169 0.28613864] [ 0.02402476 0.99959362 0.01534325 0.25007562] [-0.00187009 -0.01530272 0.99988116 -0.10328062] [ 0. 0. 0. 1. ]] SLAMing on 5.79719347 meters Centerline goodness : 0.876677 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99974618 -0.02244253 0.00197619 0.28458964] [ 0.02240633 0.99960856 0.01675331 0.25027943] [-0.0023514 -0.01670478 0.9998577 -0.1021345 ] [ 0. 0. 0. 1. ]] SLAMing on 5.827193469999999 meters Centerline goodness : 0.878642 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99975447 -0.02209162 0.00172295 0.28481473] [ 0.02206046 0.99962231 0.0163882 0.2521796 ] [-0.00208434 -0.01634617 0.99986422 -0.10156653] [ 0. 0. 0. 1. ]] SLAMing on 5.8571934699999995 meters Centerline goodness : 0.876936 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99974654 -0.02242666 0.00197296 0.283692 ] [ 0.02239271 0.99962417 0.01581403 0.25228619] [-0.00232687 -0.01576584 0.999873 -0.1006016 ] [ 0. 0. 0. 1. ]] SLAMing on 5.88719347 meters Centerline goodness : 0.877017 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99963755 -0.02682721 0.00225329 0.2827781 ] [ 0.02679892 0.99957159 0.01176683 0.2511014 ] [-0.00256799 -0.01170218 0.99992823 -0.09974433] [ 0. 0. 0. 1. ]] SLAMing on 5.91719347 meters Centerline goodness : 0.878102 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99961865 -0.02752078 0.00227008 0.28234475] [ 0.02749163 0.99954998 0.01200186 0.24873917] [-0.00259936 -0.01193487 0.9999254 -0.09940995] [ 0. 0. 0. 1. ]] SLAMing on 5.947193469999999 meters Centerline goodness : 0.874280 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.10 [[ 0.99946686 -0.03257933 0.00214194 0.28274903] [ 0.03256037 0.99943482 0.00835894 0.24694518] [-0.00241306 -0.00828474 0.99996277 -0.09993722] [ 0. 0. 0. 1. ]] SLAMing on 5.97719347 meters Centerline goodness : 0.871802 Centerline is valid? [False, False] Translation: X:0.29, Y:0.24, Z:-0.10 [[ 0.99932823 -0.03661427 0.00157389 0.28542312] [ 0.03660428 0.99931203 0.00596524 0.24298009] [-0.00179122 -0.00590363 0.99998097 -0.10279055] [ 0. 0. 0. 1. ]] SLAMing on 6.00719347 meters Centerline goodness : 0.867668 Centerline is valid? [False, False] Translation: X:0.29, Y:0.24, Z:-0.10 [[ 0.99933906 -0.03632473 0.00139655 0.28678541] [ 0.03631407 0.99931574 0.00702363 0.24013935] [-0.00165073 -0.00696827 0.99997436 -0.10432899] [ 0. 0. 0. 1. ]] SLAMing on 6.037193469999999 meters Centerline goodness : 0.867389 Centerline is valid? [False, False] Translation: X:0.29, Y:0.24, Z:-0.11 [[ 0.99935806 -0.03581146 0.00100358 0.28830336] [ 0.0358031 0.99933159 0.00738255 0.24149178] [-0.00126729 -0.00734188 0.99997224 -0.10541062] [ 0. 0. 0. 1. ]] SLAMing on 6.067193469999999 meters Centerline goodness : 0.868210 Centerline is valid? [False, False] Translation: X:0.29, Y:0.25, Z:-0.10 [[ 9.99599333e-01 -2.82936119e-02 8.02981746e-04 2.87650980e-01] [ 2.82798778e-02 9.99505103e-01 1.37767038e-02 2.46298204e-01] [-1.19237706e-03 -1.37484757e-02 9.99904774e-01 -1.04607594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09719347 meters Centerline goodness : 0.866315 Centerline is valid? [False, False] Translation: X:0.28, Y:0.26, Z:-0.11 [[ 0.99984467 -0.01692872 0.00490352 0.28187149] [ 0.01688404 0.99981681 0.00901565 0.25638855] [-0.00505524 -0.00893146 0.99994734 -0.10603206] [ 0. 0. 0. 1. ]] SLAMing on 6.12719347 meters Centerline goodness : 0.865519 Centerline is valid? [False, False] Translation: X:0.28, Y:0.26, Z:-0.11 [[ 0.99989749 -0.01345628 0.00489248 0.28191697] [ 0.01339916 0.99984379 0.01152627 0.26080612] [-0.00504681 -0.01145953 0.9999216 -0.10619238] [ 0. 0. 0. 1. ]] SLAMing on 6.157193469999999 meters Centerline goodness : 0.864191 Centerline is valid? [False, False] Translation: X:0.28, Y:0.27, Z:-0.11 [[ 0.99992881 -0.01088576 0.00488627 0.28270184] [ 0.01082414 0.99986372 0.01246507 0.26979019] [-0.00502129 -0.01241129 0.99991037 -0.10719882] [ 0. 0. 0. 1. ]] SLAMing on 6.1871934699999995 meters Centerline goodness : 0.858776 Centerline is valid? [False, False] Translation: X:0.28, Y:0.27, Z:-0.11 [[ 0.99992955 -0.01092484 0.0046422 0.28431367] [ 0.01086812 0.99986805 0.01207326 0.27262524] [-0.00477348 -0.01202196 0.99991634 -0.10886695] [ 0. 0. 0. 1. ]] SLAMing on 6.21719347 meters Centerline goodness : 0.851934 Centerline is valid? [False, False] Translation: X:0.30, Y:0.28, Z:-0.11 [[ 0.99981026 -0.01777618 0.00796572 0.29793984] [ 0.01764936 0.99972068 0.01571846 0.27753622] [-0.00824291 -0.01557488 0.99984473 -0.11454034] [ 0. 0. 0. 1. ]] SLAMing on 6.24719347 meters Centerline goodness : 0.851050 Centerline is valid? [False, False] Translation: X:0.33, Y:0.28, Z:-0.12 [[ 0.99949394 -0.0284658 0.01419743 0.33449493] [ 0.02794041 0.99896386 0.03592418 0.27741565] [-0.01520533 -0.03550932 0.99925366 -0.12049896] [ 0. 0. 0. 1. ]] SLAMing on 6.277193469999999 meters Centerline goodness : 0.855762 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-0.13 [[ 0.99925523 -0.03303088 0.01994834 0.3497123 ] [ 0.0317489 0.99760312 0.06148188 0.27404258] [-0.02193133 -0.06080275 0.99790883 -0.12538575] [ 0. 0. 0. 1. ]] SLAMing on 6.30719347 meters Centerline goodness : 0.850448 Centerline is valid? [False, False] Translation: X:0.35, Y:0.28, Z:-0.12 [[ 0.9990176 -0.03923946 0.0205939 0.34733582] [ 0.03806666 0.99778542 0.05454526 0.2800303 ] [-0.02268862 -0.05370774 0.99829891 -0.12360127] [ 0. 0. 0. 1. ]] SLAMing on 6.33719347 meters Centerline goodness : 0.850784 Centerline is valid? [False, False] Translation: X:0.35, Y:0.28, Z:-0.12 [[ 0.9989225 -0.04278918 0.01797017 0.35132172] [ 0.04174445 0.99761546 0.05496184 0.28450196] [-0.02027909 -0.05415246 0.99832673 -0.12201663] [ 0. 0. 0. 1. ]] SLAMing on 6.367193469999999 meters Centerline goodness : 0.846380 Centerline is valid? [False, False] Translation: X:0.35, Y:0.29, Z:-0.12 [[ 0.99904901 -0.04059293 0.01591525 0.35399757] [ 0.03961626 0.99755875 0.05750733 0.29180953] [-0.01821079 -0.05682214 0.99821822 -0.12176113] [ 0. 0. 0. 1. ]] SLAMing on 6.3971934699999995 meters Centerline goodness : 0.846055 Centerline is valid? [False, False] Translation: X:0.35, Y:0.30, Z:-0.12 [[ 0.99917787 -0.03744746 0.01553274 0.35405165] [ 0.0364712 0.99759279 0.05897858 0.29714311] [-0.01770395 -0.05836359 0.9981384 -0.12210471] [ 0. 0. 0. 1. ]] SLAMing on 6.42719347 meters Centerline goodness : 0.844633 Centerline is valid? [False, False] Translation: X:0.37, Y:0.31, Z:-0.12 [[ 0.99935373 -0.03101216 0.01817577 0.37369675] [ 0.03011608 0.99840959 0.04765836 0.31323981] [-0.01962485 -0.04708018 0.99869831 -0.12060098] [ 0. 0. 0. 1. ]] SLAMing on 6.45719347 meters Centerline goodness : 0.841350 Centerline is valid? [False, False] Translation: X:0.38, Y:0.32, Z:-0.12 [[ 0.99939757 -0.03006214 0.01734286 0.37612253] [ 0.02925037 0.99854505 0.04530112 0.32266789] [-0.01867947 -0.04476654 0.99882282 -0.12018687] [ 0. 0. 0. 1. ]] SLAMing on 6.487193469999999 meters Centerline goodness : 0.841475 Centerline is valid? [False, False] Translation: X:0.39, Y:0.34, Z:-0.12 [[ 0.99968862 -0.02241995 0.01095488 0.39040532] [ 0.02198539 0.99902454 0.03829629 0.34283074] [-0.01180279 -0.03804352 0.99920638 -0.11858537] [ 0. 0. 0. 1. ]] SLAMing on 6.51719347 meters Centerline goodness : 0.841824 Centerline is valid? [False, False] Translation: X:0.41, Y:0.36, Z:-0.12 [[ 0.99990759 -0.0094727 0.00975042 0.41289414] [ 0.00918143 0.99952273 0.02949602 0.36242202] [-0.01002517 -0.02940378 0.99951734 -0.11673599] [ 0. 0. 0. 1. ]] SLAMing on 6.54719347 meters Centerline goodness : 0.841154 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.11 [[ 9.99970720e-01 -1.07794055e-03 7.57610909e-03 4.23568313e-01] [ 8.88188959e-04 9.99686933e-01 2.50049373e-02 3.80878660e-01] [-7.60069110e-03 -2.49974761e-02 9.99658620e-01 -1.12280045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577193469999999 meters Centerline goodness : 0.840855 Centerline is valid? [False, False] Translation: X:0.43, Y:0.39, Z:-0.11 [[ 9.99975681e-01 -9.22381629e-04 6.91279324e-03 4.25250614e-01] [ 7.59662503e-04 9.99723440e-01 2.35046097e-02 3.88241359e-01] [-6.93256165e-03 -2.34987867e-02 9.99699828e-01 -1.12284455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6071934699999995 meters Centerline goodness : 0.841583 Centerline is valid? [False, False] Translation: X:0.43, Y:0.40, Z:-0.11 [[ 0.99997525 -0.00188308 0.00677838 0.4253693 ] [ 0.00174087 0.99977952 0.02092581 0.39671191] [-0.00681629 -0.02091349 0.99975805 -0.11167723] [ 0. 0. 0. 1. ]] SLAMing on 6.63719347 meters Centerline goodness : 0.841583 Centerline is valid? [False, False] Translation: X:0.43, Y:0.40, Z:-0.11 [[ 0.99997525 -0.00188308 0.00677838 0.4253693 ] [ 0.00174087 0.99977952 0.02092581 0.39671191] [-0.00681629 -0.02091349 0.99975805 -0.11167723] [ 0. 0. 0. 1. ]] SLAMing on 6.66719347 meters Centerline goodness : 0.843404 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.11 [[ 0.99995082 -0.00719034 0.00683105 0.42402381] [ 0.00708814 0.99986434 0.01486839 0.40149534] [-0.00693703 -0.01481924 0.99986612 -0.10971447] [ 0. 0. 0. 1. ]] SLAMing on 6.697193469999999 meters Centerline goodness : 0.844855 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.11 [[ 0.99991453 -0.01137152 0.00645138 0.42431956] [ 0.01130558 0.9998844 0.01016695 0.40334671] [-0.00656624 -0.01009314 0.9999275 -0.10868444] [ 0. 0. 0. 1. ]] SLAMing on 6.72719347 meters Centerline goodness : 0.847753 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.11 [[ 0.99984414 -0.01638418 0.00657749 0.42257018] [ 0.01635191 0.99985415 0.00492956 0.4047024 ] [-0.0066573 -0.00482123 0.99996622 -0.10625848] [ 0. 0. 0. 1. ]] SLAMing on 6.75719347 meters Centerline goodness : 0.849539 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 0.99981488 -0.01773209 0.00746838 0.41908649] [ 0.01770376 0.99983589 0.00384256 0.40496017] [-0.00753529 -0.00370963 0.99996473 -0.10401641] [ 0. 0. 0. 1. ]] SLAMing on 6.787193469999999 meters Centerline goodness : 0.853261 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 0.99981742 -0.01763984 0.00734569 0.41921724] [ 0.01761112 0.99983709 0.00395511 0.40435152] [-0.00741426 -0.00382503 0.9999652 -0.10378803] [ 0. 0. 0. 1. ]] SLAMing on 6.817193469999999 meters Centerline goodness : 0.854283 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 9.99743487e-01 -2.14430769e-02 7.29072510e-03 4.18947793e-01] [ 2.14432410e-02 9.99770066e-01 5.56736037e-05 4.02909175e-01] [-7.29024253e-03 1.00677453e-04 9.99973421e-01 -1.02634111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84719347 meters Centerline goodness : 0.852990 Centerline is valid? [False, False] Translation: X:0.42, Y:0.40, Z:-0.10 [[ 0.99963447 -0.02592712 0.00766242 0.41874132] [ 0.02594492 0.99966088 -0.00223212 0.3957604 ] [-0.00760195 0.00243011 0.99996815 -0.10446002] [ 0. 0. 0. 1. ]] SLAMing on 6.87719347 meters Centerline goodness : 0.851055 Centerline is valid? [False, False] Translation: X:0.42, Y:0.39, Z:-0.11 [[ 0.99949781 -0.0307136 0.00779734 0.41811759] [ 0.03073974 0.99952212 -0.00325557 0.38678489] [-0.00769363 0.00349362 0.9999643 -0.10674988] [ 0. 0. 0. 1. ]] SLAMing on 6.907193469999999 meters Centerline goodness : 0.850404 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.11 [[ 0.9995033 -0.03060249 0.00752566 0.41844924] [ 0.03061925 0.99952887 -0.00212116 0.38278471] [-0.0074572 0.00235054 0.99996943 -0.10682887] [ 0. 0. 0. 1. ]] SLAMing on 6.9371934699999995 meters Centerline goodness : 0.849385 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.11 [[ 9.99587583e-01 -2.77083856e-02 7.54379105e-03 4.17202434e-01] [ 2.77002805e-02 9.99615581e-01 1.17680200e-03 3.78174303e-01] [-7.57349836e-03 -9.67351541e-04 9.99970853e-01 -1.05163869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96719347 meters Centerline goodness : 0.849132 Centerline is valid? [False, False] Translation: X:0.42, Y:0.38, Z:-0.10 [[ 0.9998872 -0.01475367 0.0028133 0.41984723] [ 0.01476696 0.99987963 -0.00476073 0.37740721] [-0.00274272 0.00480173 0.99998471 -0.10463681] [ 0. 0. 0. 1. ]] SLAMing on 6.997193469999999 meters Centerline goodness : 0.849242 Centerline is valid? [False, False] Translation: X:0.43, Y:0.38, Z:-0.11 [[ 9.99961017e-01 -8.77808375e-03 9.53826594e-04 4.28993751e-01] [ 8.77920591e-03 9.99960767e-01 -1.17873249e-03 3.78031635e-01] [-9.43442160e-04 1.18706038e-03 9.99998850e-01 -1.09195207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027193469999999 meters Centerline goodness : 0.849128 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99999265 0.00305452 -0.00231909 0.44309168] [-0.00304095 0.99997838 0.00583039 0.3808124 ] [ 0.00233685 -0.00582329 0.99998031 -0.11461386] [ 0. 0. 0. 1. ]] SLAMing on 7.05719347 meters Centerline goodness : 0.846360 Centerline is valid? [False, False] Translation: X:0.45, Y:0.38, Z:-0.12 [[ 0.99998125 0.00528771 -0.00308819 0.44745224] [-0.00526649 0.99996273 0.00684124 0.38324368] [ 0.00312425 -0.00682485 0.99997183 -0.1174892 ] [ 0. 0. 0. 1. ]] SLAMing on 7.08719347 meters Centerline goodness : 0.848867 Centerline is valid? [False, False] Translation: X:0.45, Y:0.38, Z:-0.12 [[ 0.99999145 0.0016239 -0.00380415 0.4490083 ] [-0.00161468 0.99999576 0.00242491 0.3849677 ] [ 0.00380808 -0.00241875 0.99998982 -0.11721089] [ 0. 0. 0. 1. ]] SLAMing on 7.117193469999999 meters Centerline goodness : 0.852056 Centerline is valid? [False, False] Translation: X:0.45, Y:0.38, Z:-0.12 [[ 0.99998599 -0.00340238 -0.00405499 0.44786456] [ 0.00339531 0.99999271 -0.0017487 0.38312477] [ 0.00406091 0.00173491 0.99999025 -0.11549234] [ 0. 0. 0. 1. ]] SLAMing on 7.1471934699999995 meters Centerline goodness : 0.850243 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99994861 -0.0095069 -0.00352083 0.44381138] [ 0.00948277 0.99993186 -0.00680775 0.3805279 ] [ 0.00358531 0.00677401 0.99997063 -0.11179262] [ 0. 0. 0. 1. ]] SLAMing on 7.17719347 meters Centerline goodness : 0.850916 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99994132 -0.01035804 -0.00317244 0.44201154] [ 0.01033611 0.99992311 -0.00685089 0.37817981] [ 0.00324316 0.0068177 0.9999715 -0.11074336] [ 0. 0. 0. 1. ]] SLAMing on 7.207193469999999 meters Centerline goodness : 0.854263 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99993479 -0.01111757 -0.00261191 0.43954249] [ 0.01109869 0.99991296 -0.00713342 0.37681172] [ 0.00269099 0.00710396 0.99997115 -0.10905641] [ 0. 0. 0. 1. ]] SLAMing on 7.237193469999999 meters Centerline goodness : 0.853948 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99994479 -0.01011469 -0.00284685 0.44010947] [ 0.01009406 0.99992333 -0.00717187 0.37826764] [ 0.00291917 0.00714273 0.99997023 -0.10824275] [ 0. 0. 0. 1. ]] SLAMing on 7.26719347 meters Centerline goodness : 0.856832 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99997798 -0.00617411 -0.002435 0.43896372] [ 0.00616567 0.99997501 -0.00345846 0.37942954] [ 0.00245629 0.00344337 0.99999105 -0.10778322] [ 0. 0. 0. 1. ]] SLAMing on 7.29719347 meters Centerline goodness : 0.859558 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99997459 -0.00683092 -0.00203815 0.43745871] [ 0.00682316 0.99996953 -0.00379185 0.37939064] [ 0.00206399 0.00377785 0.99999073 -0.10701752] [ 0. 0. 0. 1. ]] SLAMing on 7.327193469999999 meters Centerline goodness : 0.860254 Centerline is valid? [False, False] Translation: X:0.44, Y:0.38, Z:-0.11 [[ 0.99996879 -0.00774349 -0.00156643 0.43609826] [ 0.00773776 0.99996346 -0.00363267 0.37668206] [ 0.0015945 0.00362043 0.99999217 -0.10704962] [ 0. 0. 0. 1. ]] SLAMing on 7.3571934699999995 meters Centerline goodness : 0.859161 Centerline is valid? [False, False] Translation: X:0.43, Y:0.37, Z:-0.11 [[ 0.99984862 -0.0173458 -0.00136503 0.43442529] [ 0.01732849 0.9997801 -0.01180989 0.37407016] [ 0.00156959 0.01178444 0.99992933 -0.10585216] [ 0. 0. 0. 1. ]] SLAMing on 7.38719347 meters Centerline goodness : 0.854757 Centerline is valid? [False, False] Translation: X:0.43, Y:0.37, Z:-0.11 [[ 0.99982341 -0.01873638 -0.00144913 0.43453656] [ 0.01872306 0.99978672 -0.00871551 0.36822748] [ 0.00161212 0.00868684 0.99996097 -0.11065806] [ 0. 0. 0. 1. ]] SLAMing on 7.41719347 meters Centerline goodness : 0.856721 Centerline is valid? [False, False] Translation: X:0.44, Y:0.36, Z:-0.12 [[ 0.99963296 -0.02695592 -0.00270736 0.43773893] [ 0.0269239 0.99957428 -0.01124129 0.36046221] [ 0.00300923 0.01116427 0.99993315 -0.11809479] [ 0. 0. 0. 1. ]] SLAMing on 7.447193469999999 meters Centerline goodness : 0.852645 Centerline is valid? [False, False] Translation: X:0.44, Y:0.36, Z:-0.12 [[ 0.99951319 -0.03106848 -0.00285088 0.4384692 ] [ 0.03102548 0.99941977 -0.01405533 0.35630555] [ 0.00328591 0.01396003 0.99989715 -0.11906259] [ 0. 0. 0. 1. ]] SLAMing on 7.47719347 meters Centerline goodness : 0.852892 Centerline is valid? [False, False] Translation: X:0.44, Y:0.36, Z:-0.12 [[ 0.99966239 -0.02571878 -0.0036952 0.4413379 ] [ 0.02568459 0.99962942 -0.00901847 0.35638467] [ 0.00392577 0.00892052 0.99995251 -0.12082707] [ 0. 0. 0. 1. ]] SLAMing on 7.50719347 meters Centerline goodness : 0.855214 Centerline is valid? [False, False] Translation: X:0.45, Y:0.36, Z:-0.12 [[ 0.9997885 -0.02003881 -0.0046254 0.44506962] [ 0.02001929 0.99979065 -0.00422849 0.3585873 ] [ 0.00470917 0.00413499 0.99998036 -0.12319292] [ 0. 0. 0. 1. ]] SLAMing on 7.537193469999999 meters Centerline goodness : 0.856306 Centerline is valid? [False, False] Translation: X:0.46, Y:0.37, Z:-0.13 [[ 0.99999518 0.00130897 -0.00281411 0.46182719] [-0.00132475 0.99998336 -0.00561389 0.36820539] [ 0.00280671 0.00561759 0.99998028 -0.12532526] [ 0. 0. 0. 1. ]] SLAMing on 7.567193469999999 meters Centerline goodness : 0.856959 Centerline is valid? [False, False] Translation: X:0.46, Y:0.37, Z:-0.13 [[ 0.9999397 0.01054649 -0.0030599 0.46480852] [-0.01054024 0.99994235 0.00205114 0.37349737] [ 0.00308136 -0.00201876 0.99999321 -0.12763029] [ 0. 0. 0. 1. ]] SLAMing on 7.59719347 meters Centerline goodness : 0.858939 Centerline is valid? [False, False] Translation: X:0.48, Y:0.39, Z:-0.12 [[ 9.99720741e-01 2.25798517e-02 -6.97064422e-03 4.76971758e-01] [-2.25731096e-02 9.99744649e-01 1.04439066e-03 3.88698620e-01] [ 6.99244645e-03 -8.86749893e-04 9.99975159e-01 -1.24046785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62719347 meters Centerline goodness : 0.860164 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 0.99979892 0.01865553 -0.0073547 0.49537429] [-0.01867495 0.99982228 -0.00258024 0.40075094] [ 0.00730526 0.00271707 0.99996962 -0.11948868] [ 0. 0. 0. 1. ]] SLAMing on 7.657193469999999 meters Centerline goodness : 0.862006 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 0.99992219 0.00908811 -0.00854485 0.50206049] [-0.00907533 0.99995764 0.00153297 0.40417378] [ 0.00855842 -0.0014553 0.99996232 -0.11821915] [ 0. 0. 0. 1. ]] SLAMing on 7.6871934699999995 meters Centerline goodness : 0.862441 Centerline is valid? [False, False] Translation: X:0.51, Y:0.40, Z:-0.12 [[ 0.99998218 -0.00575601 -0.00158628 0.50582377] [ 0.00575849 0.9999822 0.00155883 0.40263645] [ 0.00157728 -0.00156794 0.99999753 -0.12080462] [ 0. 0. 0. 1. ]] SLAMing on 7.71719347 meters Centerline goodness : 0.861808 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 9.99740772e-01 -2.18416487e-02 6.42891537e-03 5.04337030e-01] [ 2.18354918e-02 9.99761050e-01 1.02632634e-03 4.00912363e-01] [-6.44979584e-03 -8.85681759e-04 9.99978808e-01 -1.19493579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.747193469999999 meters Centerline goodness : 0.865804 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.12 [[ 0.99959634 -0.02756515 0.00687854 0.50102231] [ 0.02759502 0.99961 -0.00428551 0.40132313] [-0.00675773 0.00447359 0.99996716 -0.11621991] [ 0. 0. 0. 1. ]] SLAMing on 7.777193469999999 meters Centerline goodness : 0.867505 Centerline is valid? [False, False] Translation: X:0.50, Y:0.40, Z:-0.11 [[ 0.99950755 -0.03043038 0.00765843 0.49742269] [ 0.03047321 0.99952024 -0.00553876 0.40000039] [-0.00748621 0.0057694 0.99995533 -0.11489899] [ 0. 0. 0. 1. ]] SLAMing on 7.80719347 meters Centerline goodness : 0.865623 Centerline is valid? [False, False] Translation: X:0.49, Y:0.40, Z:-0.12 [[ 0.99970468 -0.01939611 0.01464016 0.4923616 ] [ 0.01946482 0.99980012 -0.00456556 0.40004352] [-0.01454868 0.00484918 0.9998824 -0.1235872 ] [ 0. 0. 0. 1. ]] SLAMing on 7.83719347 meters Centerline goodness : 0.867035 Centerline is valid? [False, False] Translation: X:0.51, Y:0.41, Z:-0.12 [[ 0.99996408 -0.00588393 0.00610084 0.51095077] [ 0.00589327 0.99998149 -0.00151352 0.40994451] [-0.00609182 0.00154942 0.99998024 -0.12388722] [ 0. 0. 0. 1. ]] SLAMing on 7.867193469999999 meters Centerline goodness : 0.866053 Centerline is valid? [False, False] Translation: X:0.52, Y:0.41, Z:-0.13 [[ 0.99998501 0.00114838 0.00535321 0.51597244] [-0.00116947 0.99999156 0.00393838 0.41479879] [-0.00534865 -0.00394458 0.99997792 -0.12747666] [ 0. 0. 0. 1. ]] SLAMing on 7.8971934699999995 meters Centerline goodness : 0.864208 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99991288 0.01254225 -0.00411471 0.53631078] [-0.0125295 0.99991667 0.00310971 0.42570225] [ 0.00415337 -0.00305789 0.9999867 -0.12616563] [ 0. 0. 0. 1. ]] SLAMing on 7.92719347 meters Centerline goodness : 0.865175 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99983113 0.01771281 -0.00489571 0.53983311] [-0.01768181 0.99982379 0.00630463 0.43150774] [ 0.00500652 -0.006217 0.99996814 -0.12734711] [ 0. 0. 0. 1. ]] SLAMing on 7.957193469999999 meters Centerline goodness : 0.864433 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99982937 0.01773467 -0.00516818 0.54045346] [-0.01770516 0.999827 0.00569976 0.43347547] [ 0.00526837 -0.00560728 0.9999704 -0.12702029] [ 0. 0. 0. 1. ]] SLAMing on 7.987193469999999 meters Centerline goodness : 0.866697 Centerline is valid? [False, False] Translation: X:0.54, Y:0.44, Z:-0.13 [[ 9.99880300e-01 1.42879996e-02 -5.93623996e-03 5.42143714e-01] [-1.42823913e-02 9.99897515e-01 9.86083440e-04 4.36238544e-01] [ 5.94972075e-03 -9.01181704e-04 9.99981894e-01 -1.26210978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01719347 meters Centerline goodness : 0.862194 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99992164 0.01068066 -0.00653031 0.5435066 ] [-0.01069851 0.99993911 -0.00270461 0.43469815] [ 0.00650103 0.00277427 0.99997502 -0.12624747] [ 0. 0. 0. 1. ]] SLAMing on 8.04719347 meters Centerline goodness : 0.868733 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99994671 0.0073335 -0.00726655 0.544935 ] [-0.00738101 0.99995142 -0.00653293 0.43423998] [ 0.00721829 0.00658622 0.99995226 -0.12567071] [ 0. 0. 0. 1. ]] SLAMing on 8.077193470000001 meters Centerline goodness : 0.862615 Centerline is valid? [False, False] Translation: X:0.54, Y:0.43, Z:-0.13 [[ 0.99994882 0.00716657 -0.00714072 0.5439979 ] [-0.00720706 0.999958 -0.00566097 0.42952269] [ 0.00709985 0.00571215 0.99995848 -0.12531545] [ 0. 0. 0. 1. ]] SLAMing on 8.10719347 meters Centerline goodness : 0.862915 Centerline is valid? [False, False] Translation: X:0.54, Y:0.42, Z:-0.12 [[ 0.99996707 0.0034103 -0.00736455 0.5427532 ] [-0.00347588 0.99995426 -0.00891071 0.42457322] [ 0.00733382 0.00893602 0.99993318 -0.12305685] [ 0. 0. 0. 1. ]] SLAMing on 8.13719347 meters Centerline goodness : 0.863919 Centerline is valid? [False, False] Translation: X:0.54, Y:0.42, Z:-0.12 [[ 9.99969971e-01 -1.12448937e-04 -7.74889390e-03 5.42919569e-01] [ 1.84549414e-05 9.99926441e-01 -1.21289928e-02 4.20954432e-01] [ 7.74968779e-03 1.21284855e-02 9.99896416e-01 -1.22086085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16719347 meters Centerline goodness : 0.863072 Centerline is valid? [False, False] Translation: X:0.54, Y:0.41, Z:-0.12 [[ 0.99993795 -0.00753893 -0.00820155 0.5425953 ] [ 0.00739166 0.99981352 -0.01784075 0.41099366] [ 0.00833452 0.01777902 0.9998072 -0.1211336 ] [ 0. 0. 0. 1. ]] SLAMing on 8.19719347 meters Centerline goodness : 0.862056 Centerline is valid? [False, False] Translation: X:0.55, Y:0.40, Z:-0.13 [[ 0.99991307 -0.01247155 -0.00427965 0.55334089] [ 0.01243928 0.99989461 -0.00748568 0.40257101] [ 0.00437256 0.00743179 0.99996282 -0.12827616] [ 0. 0. 0. 1. ]] SLAMing on 8.22719347 meters Centerline goodness : 0.860833 Centerline is valid? [False, False] Translation: X:0.54, Y:0.39, Z:-0.13 [[ 9.99756512e-01 -2.20660823e-02 6.35402874e-05 5.41886477e-01] [ 2.20661325e-02 9.99744924e-01 -4.81384769e-03 3.87098133e-01] [ 4.26986796e-05 4.81407766e-03 9.99988411e-01 -1.29491864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25719347 meters Centerline goodness : 0.859938 Centerline is valid? [False, False] Translation: X:0.54, Y:0.38, Z:-0.13 [[ 9.99748230e-01 -2.24382532e-02 4.17860978e-05 5.41243785e-01] [ 2.24382404e-02 9.99740188e-01 -4.01014430e-03 3.82433222e-01] [ 4.82053920e-05 4.01007227e-03 9.99991958e-01 -1.29088217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28719347 meters Centerline goodness : 0.857756 Centerline is valid? [False, False] Translation: X:0.54, Y:0.38, Z:-0.13 [[ 9.99763659e-01 -2.17367112e-02 -3.76428117e-04 5.43088354e-01] [ 2.17358087e-02 9.99761205e-01 -2.25538990e-03 3.77381433e-01] [ 4.25362987e-04 2.24667489e-03 9.99997386e-01 -1.30902759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317193470000001 meters Centerline goodness : 0.853131 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.13 [[ 0.99972086 -0.02359063 -0.00129574 0.54780198] [ 0.0235851 0.99971333 -0.00412387 0.37354269] [ 0.00139266 0.00409216 0.99999066 -0.1341339 ] [ 0. 0. 0. 1. ]] SLAMing on 8.34719347 meters Centerline goodness : 0.858540 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.13 [[ 0.99972678 -0.02333587 -0.00134531 0.54767735] [ 0.02333021 0.9997195 -0.00407727 0.37309118] [ 0.00144008 0.00404477 0.99999078 -0.13357585] [ 0. 0. 0. 1. ]] SLAMing on 8.37719347 meters Centerline goodness : 0.857873 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.13 [[ 0.99973584 -0.02289132 -0.00205993 0.54957564] [ 0.0228837 0.99973147 -0.00364956 0.37354276] [ 0.00214292 0.00360145 0.99999122 -0.13426521] [ 0. 0. 0. 1. ]] SLAMing on 8.407193470000001 meters Centerline goodness : 0.860032 Centerline is valid? [False, False] Translation: X:0.55, Y:0.37, Z:-0.14 [[ 0.99974021 -0.02265351 -0.00251629 0.55107066] [ 0.02264522 0.99973819 -0.00327821 0.37384732] [ 0.00258989 0.00322038 0.99999146 -0.13518738] [ 0. 0. 0. 1. ]] SLAMing on 8.43719347 meters Centerline goodness : 0.857398 Centerline is valid? [False, False] Translation: X:0.55, Y:0.38, Z:-0.13 [[ 0.99970703 -0.02413492 -0.00183113 0.54798467] [ 0.02412667 0.99969921 -0.00440406 0.37535445] [ 0.00193687 0.00435859 0.99998863 -0.13314144] [ 0. 0. 0. 1. ]] SLAMing on 8.46719347 meters Centerline goodness : 0.859193 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 0.99953674 -0.03002675 0.00496972 0.55691065] [ 0.03003375 0.99954799 -0.00134031 0.37334751] [-0.00492723 0.00148895 0.99998675 -0.13303562] [ 0. 0. 0. 1. ]] SLAMing on 8.497193470000001 meters Centerline goodness : 0.862411 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 0.99953491 -0.03009478 0.00492577 0.5568584 ] [ 0.03010086 0.99954619 -0.00116477 0.37256949] [-0.00488848 0.0013125 0.99998719 -0.13293561] [ 0. 0. 0. 1. ]] SLAMing on 8.52719347 meters Centerline goodness : 0.861331 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 9.99551619e-01 -2.96032805e-02 4.49524970e-03 5.58509032e-01] [ 2.96075728e-02 9.99561202e-01 -8.91295111e-04 3.74602314e-01] [-4.46689194e-03 1.02398890e-03 9.99989499e-01 -1.34004600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55719347 meters Centerline goodness : 0.861331 Centerline is valid? [False, False] Translation: X:0.56, Y:0.37, Z:-0.13 [[ 9.99551619e-01 -2.96032805e-02 4.49524970e-03 5.58509032e-01] [ 2.96075728e-02 9.99561202e-01 -8.91295111e-04 3.74602314e-01] [-4.46689194e-03 1.02398890e-03 9.99989499e-01 -1.34004600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58719347 meters Centerline goodness : 0.862425 Centerline is valid? [False, False] Translation: X:0.56, Y:0.38, Z:-0.14 [[ 9.99568814e-01 -2.90480454e-02 4.28922458e-03 5.59844483e-01] [ 2.90507990e-02 9.99577768e-01 -5.81066459e-04 3.75684757e-01] [-4.27053469e-03 7.05421313e-04 9.99990632e-01 -1.35111238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61719347 meters Centerline goodness : 0.859605 Centerline is valid? [False, False] Translation: X:0.56, Y:0.38, Z:-0.14 [[ 0.99967705 -0.02493153 0.00492043 0.55915036] [ 0.02491969 0.99968645 0.0024536 0.38030397] [-0.00498006 -0.00233019 0.99998488 -0.13557313] [ 0. 0. 0. 1. ]] SLAMing on 8.647193470000001 meters Centerline goodness : 0.867710 Centerline is valid? [False, False] Translation: X:0.56, Y:0.39, Z:-0.13 [[ 9.99775039e-01 -2.04586989e-02 5.59585544e-03 5.58484274e-01] [ 2.04539838e-02 9.99790392e-01 8.98542307e-04 3.90769598e-01] [-5.61306551e-03 -7.83882633e-04 9.99983939e-01 -1.29479264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67719347 meters Centerline goodness : 0.869871 Centerline is valid? [False, False] Translation: X:0.56, Y:0.39, Z:-0.13 [[ 0.99984194 -0.01682759 0.00573817 0.55847975] [ 0.01680377 0.9998501 0.00417364 0.39378036] [-0.00580754 -0.00407656 0.99997483 -0.1301425 ] [ 0. 0. 0. 1. ]] SLAMing on 8.70719347 meters Centerline goodness : 0.870764 Centerline is valid? [False, False] Translation: X:0.56, Y:0.40, Z:-0.13 [[ 0.99985683 -0.01597067 0.00559164 0.56063353] [ 0.01594741 0.9998641 0.00417966 0.40102601] [-0.00565763 -0.00408989 0.99997563 -0.13263557] [ 0. 0. 0. 1. ]] SLAMing on 8.737193470000001 meters Centerline goodness : 0.870776 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.13 [[ 9.99790706e-01 -1.97536609e-02 5.32333504e-03 5.61065015e-01] [ 1.97531613e-02 9.99804877e-01 1.46411762e-04 4.06864338e-01] [-5.32518851e-03 -4.12284230e-05 9.99985820e-01 -1.32789431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76719347 meters Centerline goodness : 0.875786 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.13 [[ 0.9997422 -0.02190756 0.00596568 0.55848001] [ 0.02191434 0.99975928 -0.00107376 0.40872942] [-0.00594072 0.00120422 0.99998163 -0.13206415] [ 0. 0. 0. 1. ]] SLAMing on 8.79719347 meters Centerline goodness : 0.875176 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.13 [[ 0.99973929 -0.02213243 0.0056127 0.55941569] [ 0.02213917 0.99975425 -0.00114253 0.4101208 ] [-0.00558604 0.00126649 0.9999836 -0.132634 ] [ 0. 0. 0. 1. ]] SLAMing on 8.827193470000001 meters Centerline goodness : 0.870191 Centerline is valid? [False, False] Translation: X:0.57, Y:0.41, Z:-0.14 [[ 0.99980538 -0.01932228 0.00398106 0.56723287] [ 0.01931571 0.99981202 0.00168239 0.41223194] [-0.00401282 -0.00160516 0.99999066 -0.1392664 ] [ 0. 0. 0. 1. ]] SLAMing on 8.85719347 meters Centerline goodness : 0.868963 Centerline is valid? [False, False] Translation: X:0.57, Y:0.42, Z:-0.14 [[ 9.99927393e-01 -1.20423033e-02 -4.38145285e-04 5.67872168e-01] [ 1.20381456e-02 9.99891413e-01 -8.49974742e-03 4.16717267e-01] [ 5.40454245e-04 8.49385582e-03 9.99963781e-01 -1.39994079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88719347 meters Centerline goodness : 0.870800 Centerline is valid? [False, False] Translation: X:0.57, Y:0.42, Z:-0.14 [[ 9.99975101e-01 -7.00607462e-03 -8.44461765e-04 5.70440663e-01] [ 7.00264719e-03 9.99967499e-01 -3.99554670e-03 4.17924344e-01] [ 8.72427417e-04 3.98953375e-03 9.99991661e-01 -1.42161939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91719347 meters Centerline goodness : 0.871063 Centerline is valid? [False, False] Translation: X:0.58, Y:0.42, Z:-0.15 [[ 0.99999234 0.00363841 -0.00144003 0.5752663 ] [-0.00363204 0.99998373 0.00439827 0.42312894] [ 0.00145601 -0.00439301 0.99998929 -0.14532783] [ 0. 0. 0. 1. ]] SLAMing on 8.94719347 meters Centerline goodness : 0.866627 Centerline is valid? [False, False] Translation: X:0.58, Y:0.43, Z:-0.15 [[ 0.99986054 0.01655336 -0.00220948 0.58194256] [-0.01651766 0.99974648 0.01530144 0.42922067] [ 0.00246221 -0.01526281 0.99988048 -0.15028455] [ 0. 0. 0. 1. ]] SLAMing on 8.97719347 meters Centerline goodness : 0.868755 Centerline is valid? [False, False] Translation: X:0.58, Y:0.43, Z:-0.15 [[ 0.99976343 0.02157883 -0.00272625 0.58463271] [-0.02152209 0.99958086 0.01936246 0.43130488] [ 0.00314293 -0.01929921 0.99980881 -0.15165983] [ 0. 0. 0. 1. ]] SLAMing on 9.00719347 meters Centerline goodness : 0.869275 Centerline is valid? [False, False] Translation: X:0.59, Y:0.43, Z:-0.15 [[ 0.99956741 0.02913951 -0.00398514 0.59072468] [-0.0290407 0.99931496 0.02294002 0.43395703] [ 0.00465088 -0.02281437 0.9997289 -0.15138907] [ 0. 0. 0. 1. ]] SLAMing on 9.03719347 meters Centerline goodness : 0.866851 Centerline is valid? [False, False] Translation: X:0.59, Y:0.44, Z:-0.14 [[ 0.99949261 0.03145538 -0.00500834 0.59380647] [-0.0313563 0.99933211 0.01876495 0.43764938] [ 0.00559525 -0.01859838 0.99981138 -0.14341296] [ 0. 0. 0. 1. ]] SLAMing on 9.067193470000001 meters Centerline goodness : 0.869306 Centerline is valid? [False, False] Translation: X:0.59, Y:0.44, Z:-0.13 [[ 0.9995673 0.02886272 -0.00566982 0.5948213 ] [-0.02880491 0.99953477 0.0100262 0.44151791] [ 0.00595656 -0.00985854 0.99993366 -0.13415881] [ 0. 0. 0. 1. ]] SLAMing on 9.09719347 meters Centerline goodness : 0.869294 Centerline is valid? [False, False] Translation: X:0.59, Y:0.44, Z:-0.13 [[ 0.99959185 0.02802216 -0.00555884 0.59111611] [-0.02796757 0.9995621 0.00966539 0.43528074] [ 0.00582725 -0.00950597 0.99993784 -0.12933592] [ 0. 0. 0. 1. ]] SLAMing on 9.12719347 meters Centerline goodness : 0.861881 Centerline is valid? [False, False] Translation: X:0.59, Y:0.42, Z:-0.13 [[ 0.99973502 0.02192097 -0.00702527 0.59392691] [-0.02189101 0.99975106 0.00431332 0.4238401 ] [ 0.00711807 -0.00415838 0.99996602 -0.12916685] [ 0. 0. 0. 1. ]] SLAMing on 9.157193470000001 meters Centerline goodness : 0.863000 Centerline is valid? [False, False] Translation: X:0.60, Y:0.42, Z:-0.13 [[ 0.99984263 0.01552455 -0.00858532 0.5966444 ] [-0.01554749 0.99987572 -0.00261138 0.41991161] [ 0.00854371 0.00274445 0.99995974 -0.12795806] [ 0. 0. 0. 1. ]] SLAMing on 9.18719347 meters Centerline goodness : 0.857221 Centerline is valid? [False, False] Translation: X:0.60, Y:0.41, Z:-0.13 [[ 0.99986137 0.01340536 -0.0098762 0.59907412] [-0.01344284 0.99990265 -0.00373808 0.40795676] [ 0.00982512 0.00387032 0.99994424 -0.12771391] [ 0. 0. 0. 1. ]] SLAMing on 9.21719347 meters Centerline goodness : 0.854111 Centerline is valid? [False, False] Translation: X:0.61, Y:0.40, Z:-0.13 [[ 0.99983899 0.01329212 -0.01205465 0.605324 ] [-0.01334062 0.9999032 -0.00395147 0.39520607] [ 0.01200096 0.00411165 0.99991953 -0.12881374] [ 0. 0. 0. 1. ]] SLAMing on 9.247193470000001 meters Centerline goodness : 0.849739 Centerline is valid? [False, False] Translation: X:0.61, Y:0.39, Z:-0.13 [[ 0.99984984 0.01108752 -0.01331812 0.6088592 ] [-0.01116942 0.99991907 -0.00609085 0.38871161] [ 0.01324951 0.00623869 0.99989276 -0.12968835] [ 0. 0. 0. 1. ]] SLAMing on 9.27719347 meters Centerline goodness : 0.844973 Centerline is valid? [False, False] Translation: X:0.61, Y:0.37, Z:-0.13 [[ 0.99987632 0.0054631 -0.01474773 0.61211147] [-0.00561955 0.99992815 -0.01058814 0.37368138] [ 0.01468882 0.01066971 0.99983518 -0.13008955] [ 0. 0. 0. 1. ]] SLAMing on 9.30719347 meters Centerline goodness : 0.849046 Centerline is valid? [False, False] Translation: X:0.61, Y:0.36, Z:-0.13 [[ 0.9998779 -0.00172945 -0.01553064 0.61098439] [ 0.00151275 0.9999015 -0.01395373 0.36013516] [ 0.01555325 0.01392853 0.99978202 -0.12868992] [ 0. 0. 0. 1. ]] SLAMing on 9.33719347 meters Centerline goodness : 0.857623 Centerline is valid? [False, False] Translation: X:0.61, Y:0.35, Z:-0.12 [[ 0.99981082 -0.01338284 -0.01411475 0.6056196 ] [ 0.01309684 0.9997109 -0.0201639 0.34623634] [ 0.01438052 0.01997522 0.99969705 -0.12289738] [ 0. 0. 0. 1. ]] SLAMing on 9.36719347 meters Centerline goodness : 0.858997 Centerline is valid? [False, False] Translation: X:0.60, Y:0.34, Z:-0.12 [[ 0.99973227 -0.01945457 -0.0125263 0.60192394] [ 0.01913531 0.99950125 -0.02512149 0.33828449] [ 0.01300878 0.02487507 0.99960592 -0.12081282] [ 0. 0. 0. 1. ]] SLAMing on 9.39719347 meters Centerline goodness : 0.872126 Centerline is valid? [False, False] Translation: X:0.60, Y:0.32, Z:-0.12 [[ 0.99950281 -0.02998927 -0.00973506 0.59570867] [ 0.02963765 0.99896688 -0.03444959 0.32380452] [ 0.01075812 0.03414394 0.99935902 -0.11758298] [ 0. 0. 0. 1. ]] SLAMing on 9.42719347 meters Centerline goodness : 0.883882 Centerline is valid? [False, False] Translation: X:0.59, Y:0.31, Z:-0.12 [[ 0.99940271 -0.03317033 -0.00969312 0.59347259] [ 0.03280997 0.99884046 -0.03523115 0.31242174] [ 0.01085051 0.03489208 0.99933218 -0.11523134] [ 0. 0. 0. 1. ]] SLAMing on 9.45719347 meters Centerline goodness : 0.887556 Centerline is valid? [False, False] Translation: X:0.59, Y:0.30, Z:-0.11 [[ 0.99944772 -0.03174344 -0.00982924 0.59282909] [ 0.03140842 0.99897668 -0.03254377 0.30363441] [ 0.01085223 0.03221707 0.99942198 -0.11424043] [ 0. 0. 0. 1. ]] SLAMing on 9.487193470000001 meters Centerline goodness : 0.885225 Centerline is valid? [False, False] Translation: X:0.59, Y:0.30, Z:-0.12 [[ 0.99958614 -0.02694639 -0.01007192 0.59433047] [ 0.02666959 0.99928835 -0.02667455 0.29764253] [ 0.01078353 0.02639489 0.99959343 -0.11640236] [ 0. 0. 0. 1. ]] SLAMing on 9.51719347 meters Centerline goodness : 0.884182 Centerline is valid? [False, False] Translation: X:0.60, Y:0.29, Z:-0.12 [[ 0.99973473 -0.02033343 -0.01081749 0.59790526] [ 0.02012294 0.99961267 -0.01922453 0.28962173] [ 0.0112042 0.01900175 0.99975667 -0.11963612] [ 0. 0. 0. 1. ]] SLAMing on 9.54719347 meters Centerline goodness : 0.888830 Centerline is valid? [False, False] Translation: X:0.60, Y:0.28, Z:-0.12 [[ 0.99981963 -0.01563422 -0.01078368 0.59724218] [ 0.01548498 0.99978505 -0.0137868 0.28437384] [ 0.01099691 0.01361733 0.99984681 -0.11922526] [ 0. 0. 0. 1. ]] SLAMing on 9.577193470000001 meters Centerline goodness : 0.891474 Centerline is valid? [False, False] Translation: X:0.60, Y:0.28, Z:-0.12 [[ 0.99982792 -0.0149535 -0.010978 0.59812456] [ 0.01481743 0.99981365 -0.01237374 0.2806142 ] [ 0.01116099 0.01220895 0.99986318 -0.12011709] [ 0. 0. 0. 1. ]] SLAMing on 9.60719347 meters Centerline goodness : 0.892722 Centerline is valid? [False, False] Translation: X:0.60, Y:0.27, Z:-0.12 [[ 0.99978238 -0.01770024 -0.01104101 0.59884268] [ 0.01754534 0.99974844 -0.01397211 0.27384071] [ 0.01128555 0.01377535 0.99984143 -0.1208603 ] [ 0. 0. 0. 1. ]] SLAMing on 9.63719347 meters Centerline goodness : 0.896046 Centerline is valid? [False, False] Translation: X:0.61, Y:0.27, Z:-0.12 [[ 0.99978516 -0.02015525 -0.00483677 0.60624511] [ 0.02013788 0.99979068 -0.00361364 0.26634318] [ 0.00490859 0.00351547 0.99998177 -0.12278245] [ 0. 0. 0. 1. ]] SLAMing on 9.66719347 meters Centerline goodness : 0.897549 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.12 [[ 9.99833862e-01 -1.76116027e-02 -4.69895991e-03 6.04247837e-01] [ 1.76113919e-02 9.99844904e-01 -8.62407581e-05 2.63018171e-01] [ 4.69974995e-03 3.47120592e-06 9.99988956e-01 -1.20988984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69719347 meters Centerline goodness : 0.898543 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.12 [[ 0.99990645 -0.012852 -0.00468091 0.60438714] [ 0.01287757 0.99990209 0.00547582 0.25799025] [ 0.00461008 -0.00553559 0.99997405 -0.12146828] [ 0. 0. 0. 1. ]] SLAMing on 9.72719347 meters Centerline goodness : 0.897148 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.13 [[ 0.99999327 -0.00286574 -0.00229051 0.60137891] [ 0.00287208 0.99999204 0.00276795 0.25521358] [ 0.00228256 -0.00277451 0.99999355 -0.1281575 ] [ 0. 0. 0. 1. ]] SLAMing on 9.75719347 meters Centerline goodness : 0.898245 Centerline is valid? [False, False] Translation: X:0.60, Y:0.26, Z:-0.13 [[ 0.99999499 -0.00190268 -0.00253032 0.60243554] [ 0.00191059 0.99999329 0.00312526 0.25578636] [ 0.00252436 -0.00313008 0.99999192 -0.12868972] [ 0. 0. 0. 1. ]] SLAMing on 9.78719347 meters Centerline goodness : 0.897593 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.13 [[ 0.99999384 0.00126975 -0.00327218 0.6065962 ] [-0.00125039 0.99998174 0.00591199 0.25405917] [ 0.00327962 -0.00590786 0.99997717 -0.1318608 ] [ 0. 0. 0. 1. ]] SLAMing on 9.817193470000001 meters Centerline goodness : 0.900711 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.13 [[ 0.99998942 0.00255127 -0.00382758 0.60928839] [-0.00252146 0.99996663 0.00777108 0.25130794] [ 0.00384728 -0.00776135 0.99996248 -0.13417204] [ 0. 0. 0. 1. ]] SLAMing on 9.84719347 meters Centerline goodness : 0.896811 Centerline is valid? [False, False] Translation: X:0.61, Y:0.25, Z:-0.14 [[ 9.99989839e-01 -7.21609070e-05 -4.50749058e-03 6.12095297e-01] [ 9.70612248e-05 9.99984737e-01 5.52423406e-03 2.49306630e-01] [ 4.50702315e-03 -5.52461543e-03 9.99974582e-01 -1.36130773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87719347 meters Centerline goodness : 0.896719 Centerline is valid? [False, False] Translation: X:0.61, Y:0.24, Z:-0.14 [[ 9.99963165e-01 -7.35770864e-03 -4.41969964e-03 6.11432764e-01] [ 7.35716526e-03 9.99972926e-01 -1.39192638e-04 2.41489955e-01] [ 4.42060412e-03 1.06671050e-04 9.99990223e-01 -1.35583825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907193470000001 meters Centerline goodness : 0.892956 Centerline is valid? [False, False] Translation: X:0.62, Y:0.23, Z:-0.14 [[ 0.99986267 -0.01647488 0.00179565 0.62080703] [ 0.01646988 0.99986054 0.00276563 0.23069948] [-0.00184097 -0.00273567 0.99999456 -0.13836689] [ 0. 0. 0. 1. ]] SLAMing on 9.93719347 meters Centerline goodness : 0.893292 Centerline is valid? [False, False] Translation: X:0.62, Y:0.23, Z:-0.14 [[ 9.99796353e-01 -2.00551568e-02 2.24550749e-03 6.18728513e-01] [ 2.00540808e-02 9.99798771e-01 5.00651913e-04 2.25033320e-01] [-2.25509629e-03 -4.55518368e-04 9.99997354e-01 -1.36450823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96719347 meters Centerline goodness : 0.896004 Centerline is valid? [False, False] Translation: X:0.62, Y:0.22, Z:-0.14 [[ 0.9998066 -0.01955047 0.00213308 0.6192155 ] [ 0.01954706 0.99980765 0.00160738 0.22219458] [-0.00216409 -0.00156537 0.99999643 -0.13689535] [ 0. 0. 0. 1. ]] SLAMing on 9.997193470000001 meters Centerline goodness : 0.896405 Centerline is valid? [False, False] Translation: X:0.62, Y:0.22, Z:-0.14 [[ 0.99983646 -0.01799686 0.00178131 0.6210335 ] [ 0.01798963 0.99983021 0.00399089 0.21631606] [-0.00185283 -0.0039582 0.99999045 -0.13850537] [ 0. 0. 0. 1. ]] SLAMing on 10.02719347 meters Centerline goodness : 0.892173 Centerline is valid? [False, False] Translation: X:0.63, Y:0.21, Z:-0.14 [[ 9.99857833e-01 -1.68465994e-02 7.10671457e-04 6.28331360e-01] [ 1.68427746e-02 9.99845232e-01 5.08255250e-03 2.11070541e-01] [-7.96185195e-04 -5.06986025e-03 9.99986831e-01 -1.44715286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05719347 meters Centerline goodness : 0.890613 Centerline is valid? [False, False] Translation: X:0.63, Y:0.21, Z:-0.15 [[ 9.99880930e-01 -1.54311543e-02 7.78047975e-05 6.31250598e-01] [ 1.54302539e-02 9.99857278e-01 6.87977011e-03 2.08646934e-01] [-1.83956487e-04 -6.87775038e-03 9.99976331e-01 -1.47082330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08719347 meters Centerline goodness : 0.892838 Centerline is valid? [False, False] Translation: X:0.63, Y:0.20, Z:-0.15 [[ 9.99941862e-01 -1.07812109e-02 -1.93931610e-04 6.32018704e-01] [ 1.07828007e-02 9.99862031e-01 1.26352608e-02 2.04198845e-01] [ 5.76814421e-05 -1.26366173e-02 9.99920153e-01 -1.47769688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11719347 meters Centerline goodness : 0.887799 Centerline is valid? [False, False] Translation: X:0.63, Y:0.20, Z:-0.15 [[ 9.99917309e-01 -1.28381252e-02 -7.46795560e-04 6.33173805e-01] [ 1.28457909e-02 9.99852813e-01 1.13727033e-02 1.98617386e-01] [ 6.00681452e-04 -1.13813561e-02 9.99935050e-01 -1.47617419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14719347 meters Centerline goodness : 0.890139 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.15 [[ 0.99988173 -0.01532798 -0.00125896 0.6353052 ] [ 0.01533913 0.99983825 0.00939109 0.19483966] [ 0.00111481 -0.00940929 0.99995511 -0.14891514] [ 0. 0. 0. 1. ]] SLAMing on 10.17719347 meters Centerline goodness : 0.888856 Centerline is valid? [False, False] Translation: X:0.64, Y:0.19, Z:-0.15 [[ 0.99985081 -0.01719139 -0.00167832 0.6373331 ] [ 0.01720612 0.99980967 0.00919597 0.18552029] [ 0.00151991 -0.00922347 0.99995631 -0.15038403] [ 0. 0. 0. 1. ]] SLAMing on 10.20719347 meters Centerline goodness : 0.884351 Centerline is valid? [False, False] Translation: X:0.64, Y:0.18, Z:-0.15 [[ 0.99981785 -0.01897222 -0.00207963 0.63774091] [ 0.01898983 0.99978096 0.00879901 0.17705219] [ 0.00191224 -0.0088369 0.99995913 -0.14970273] [ 0. 0. 0. 1. ]] SLAMing on 10.237193470000001 meters Centerline goodness : 0.890539 Centerline is valid? [False, False] Translation: X:0.64, Y:0.17, Z:-0.15 [[ 0.99983397 -0.01807477 -0.00230899 0.63836122] [ 0.01809815 0.99978062 0.01054337 0.17241791] [ 0.00211791 -0.01058341 0.99994175 -0.14990843] [ 0. 0. 0. 1. ]] SLAMing on 10.26719347 meters Centerline goodness : 0.883459 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.15 [[ 0.9998734 -0.01562095 -0.00302791 0.64072608] [ 0.01566159 0.99978076 0.01389797 0.16353069] [ 0.00281015 -0.01394363 0.99989883 -0.15088011] [ 0. 0. 0. 1. ]] SLAMing on 10.29719347 meters Centerline goodness : 0.884347 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.15 [[ 0.9999012 -0.0135855 -0.00360886 0.64248068] [ 0.01364346 0.99976993 0.01655127 0.15852645] [ 0.00338317 -0.01659887 0.99985651 -0.15157755] [ 0. 0. 0. 1. ]] SLAMing on 10.327193470000001 meters Centerline goodness : 0.884862 Centerline is valid? [False, False] Translation: X:0.64, Y:0.16, Z:-0.15 [[ 0.99990633 -0.01310385 -0.00395302 0.64302545] [ 0.01316972 0.99976664 0.01712368 0.1578318 ] [ 0.00372771 -0.01717413 0.99984556 -0.15138019] [ 0. 0. 0. 1. ]] SLAMing on 10.35719347 meters Centerline goodness : 0.881029 Centerline is valid? [False, False] Translation: X:0.64, Y:0.15, Z:-0.15 [[ 0.99985925 -0.01620918 -0.00432973 0.64384652] [ 0.01627213 0.99975624 0.01492256 0.15296755] [ 0.00408679 -0.01499091 0.99987928 -0.15125752] [ 0. 0. 0. 1. ]] SLAMing on 10.38719347 meters Centerline goodness : 0.880448 Centerline is valid? [False, False] Translation: X:0.66, Y:0.14, Z:-0.15 [[ 9.99655582e-01 -2.62313160e-02 7.96954196e-04 6.56532961e-01] [ 2.62158266e-02 9.99536159e-01 1.54982838e-02 1.43468258e-01] [-1.20312492e-03 -1.54720531e-02 9.99879577e-01 -1.54884285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41719347 meters Centerline goodness : 0.886292 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.16 [[ 0.99926874 -0.03754734 0.00722379 0.66593938] [ 0.03742768 0.99917055 0.01604279 0.13920495] [-0.00782017 -0.01576069 0.99984521 -0.15772275] [ 0. 0. 0. 1. ]] SLAMing on 10.44719347 meters Centerline goodness : 0.886292 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.16 [[ 0.99926874 -0.03754734 0.00722379 0.66593938] [ 0.03742768 0.99917055 0.01604279 0.13920495] [-0.00782017 -0.01576069 0.99984521 -0.15772275] [ 0. 0. 0. 1. ]] SLAMing on 10.47719347 meters Centerline goodness : 0.885854 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.16 [[ 0.9991011 -0.04177261 0.00721349 0.66579134] [ 0.04168405 0.99905854 0.01201998 0.13917911] [-0.0077088 -0.01170849 0.99990174 -0.15688058] [ 0. 0. 0. 1. ]] SLAMing on 10.50719347 meters Centerline goodness : 0.885944 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.16 [[ 0.998769 -0.04796059 0.0126596 0.67746292] [ 0.04775112 0.99872527 0.01636035 0.1363117 ] [-0.01342811 -0.0157357 0.99978601 -0.16067962] [ 0. 0. 0. 1. ]] SLAMing on 10.53719347 meters Centerline goodness : 0.885750 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.16 [[ 0.99874941 -0.04833789 0.01276982 0.67776197] [ 0.04813082 0.99871202 0.0160536 0.13657205] [-0.01352937 -0.0154189 0.99978958 -0.16141252] [ 0. 0. 0. 1. ]] SLAMing on 10.56719347 meters Centerline goodness : 0.884393 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.16 [[ 0.99880434 -0.04733339 0.01222468 0.6801934 ] [ 0.04713104 0.99875503 0.01634196 0.13921054] [-0.01298298 -0.01574626 0.99979173 -0.16341123] [ 0. 0. 0. 1. ]] SLAMing on 10.59719347 meters Centerline goodness : 0.885253 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.17 [[ 0.99916868 -0.03701858 0.01707576 0.67217159] [ 0.03680713 0.99924376 0.01253531 0.14794739] [-0.01752688 -0.01189638 0.99977562 -0.16600817] [ 0. 0. 0. 1. ]] SLAMing on 10.62719347 meters Centerline goodness : 0.887470 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.16 [[ 0.99948218 -0.02531521 0.01986222 0.66819937] [ 0.02495666 0.99952473 0.01809642 0.15987295] [-0.02031089 -0.01759135 0.99963894 -0.16396992] [ 0. 0. 0. 1. ]] SLAMing on 10.657193470000001 meters Centerline goodness : 0.888091 Centerline is valid? [False, False] Translation: X:0.67, Y:0.17, Z:-0.16 [[ 0.99957602 -0.02139294 0.0197514 0.66838877] [ 0.0209827 0.99956452 0.02074847 0.16606915] [-0.02018667 -0.02032524 0.99958961 -0.16416645] [ 0. 0. 0. 1. ]] SLAMing on 10.68719347 meters Centerline goodness : 0.882988 Centerline is valid? [False, False] Translation: X:0.67, Y:0.17, Z:-0.17 [[ 0.99969734 -0.01524754 0.01930668 0.67033788] [ 0.01475171 0.99956421 0.0255691 0.17460374] [-0.01968813 -0.02527655 0.99948661 -0.16613648] [ 0. 0. 0. 1. ]] SLAMing on 10.71719347 meters Centerline goodness : 0.882689 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99964713 -0.01859931 0.01896541 0.67213936] [ 0.01820194 0.99961557 0.02091407 0.1799897 ] [-0.0193471 -0.02056148 0.99960138 -0.16747176] [ 0. 0. 0. 1. ]] SLAMing on 10.747193470000001 meters Centerline goodness : 0.877850 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.17 [[ 0.99959227 -0.02183429 0.0184002 0.67507802] [ 0.02152007 0.99962207 0.01710551 0.18151487] [-0.01876673 -0.01670256 0.99968437 -0.16984821] [ 0. 0. 0. 1. ]] SLAMing on 10.77719347 meters Centerline goodness : 0.875477 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.17 [[ 0.99950253 -0.02638291 0.01728126 0.68113545] [ 0.02616989 0.99958012 0.01243883 0.18286477] [-0.01760218 -0.01198039 0.99977329 -0.17493908] [ 0. 0. 0. 1. ]] SLAMing on 10.80719347 meters Centerline goodness : 0.872982 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99938456 -0.03073041 0.01691587 0.68234429] [ 0.03058172 0.99949193 0.00897968 0.18123359] [-0.01718322 -0.00845683 0.99981659 -0.17555502] [ 0. 0. 0. 1. ]] SLAMing on 10.83719347 meters Centerline goodness : 0.871282 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99929412 -0.03381323 0.01636844 0.68487632] [ 0.03371371 0.99941156 0.00631819 0.17992847] [-0.01657244 -0.00576189 0.99984607 -0.17729422] [ 0. 0. 0. 1. ]] SLAMing on 10.86719347 meters Centerline goodness : 0.869474 Centerline is valid? [False, False] Translation: X:0.69, Y:0.18, Z:-0.18 [[ 0.99920448 -0.03674665 0.01549488 0.68856973] [ 0.03667787 0.99931609 0.00470007 0.17533545] [-0.015657 -0.00412802 0.9998689 -0.18027689] [ 0. 0. 0. 1. ]] SLAMing on 10.89719347 meters Centerline goodness : 0.867383 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.18 [[ 0.99935842 -0.03241544 0.01523146 0.68826841] [ 0.03227393 0.99943442 0.00944675 0.17202201] [-0.01552906 -0.00894911 0.99983937 -0.17940465] [ 0. 0. 0. 1. ]] SLAMing on 10.92719347 meters Centerline goodness : 0.870329 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:-0.18 [[ 0.99947864 -0.0285502 0.01507776 0.68698492] [ 0.02835491 0.99951324 0.01301103 0.17283838] [-0.01544189 -0.01257672 0.99980167 -0.17741313] [ 0. 0. 0. 1. ]] SLAMing on 10.95719347 meters Centerline goodness : 0.873029 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99955724 -0.01869021 0.02315158 0.67472524] [ 0.0183997 0.99975007 0.01269809 0.17757399] [-0.02338313 -0.01226649 0.99965132 -0.17439378] [ 0. 0. 0. 1. ]] SLAMing on 10.987193470000001 meters Centerline goodness : 0.872498 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.17 [[ 0.99963901 -0.01386686 0.02301231 0.67540454] [ 0.01349189 0.99977497 0.01637001 0.18019187] [-0.02323413 -0.01605362 0.99960115 -0.17480007] [ 0. 0. 0. 1. ]] SLAMing on 11.01719347 meters Centerline goodness : 0.872514 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99965883 -0.01148892 0.02345677 0.67292513] [ 0.01105583 0.99976754 0.01851018 0.18285994] [-0.02366398 -0.01824454 0.99955348 -0.17270278] [ 0. 0. 0. 1. ]] SLAMing on 11.04719347 meters Centerline goodness : 0.873290 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.17 [[ 0.99963485 -0.01429713 0.0229293 0.67490277] [ 0.01394892 0.99978603 0.01527472 0.18362197] [-0.02314278 -0.01494931 0.99962039 -0.17379001] [ 0. 0. 0. 1. ]] SLAMing on 11.077193470000001 meters Centerline goodness : 0.870210 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99952279 -0.02125893 0.02241086 0.67787312] [ 0.02106597 0.99973926 0.00881123 0.18061846] [-0.02259233 -0.00833492 0.99971002 -0.17626974] [ 0. 0. 0. 1. ]] SLAMing on 11.10719347 meters Centerline goodness : 0.870973 Centerline is valid? [False, False] Translation: X:0.68, Y:0.18, Z:-0.18 [[ 0.99943564 -0.02548026 0.02188985 0.67956016] [ 0.02535013 0.9996594 0.00620194 0.17603908] [-0.02204042 -0.00564353 0.99974115 -0.17754497] [ 0. 0. 0. 1. ]] SLAMing on 11.13719347 meters Centerline goodness : 0.872195 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99945244 -0.02508375 0.0215782 0.68048754] [ 0.0249314 0.99966251 0.00730065 0.17306203] [-0.02175404 -0.00675868 0.99974051 -0.17804568] [ 0. 0. 0. 1. ]] SLAMing on 11.16719347 meters Centerline goodness : 0.870780 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99951786 -0.02293647 0.02092739 0.68240483] [ 0.02274344 0.99969699 0.00941574 0.17035622] [-0.02113702 -0.00893524 0.99973666 -0.17872483] [ 0. 0. 0. 1. ]] SLAMing on 11.19719347 meters Centerline goodness : 0.870788 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99959939 -0.00967226 0.02659887 0.68038786] [ 0.00943921 0.99991608 0.00887303 0.16839102] [-0.02668246 -0.0086184 0.99960681 -0.1776677 ] [ 0. 0. 0. 1. ]] SLAMing on 11.22719347 meters Centerline goodness : 0.871446 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99962962 -0.00748112 0.02616577 0.68230723] [ 0.00721518 0.9999215 0.01024336 0.16883011] [-0.02624035 -0.01005077 0.99960514 -0.17880939] [ 0. 0. 0. 1. ]] SLAMing on 11.25719347 meters Centerline goodness : 0.875484 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.17 [[ 0.99972362 0.00292446 0.0233266 0.67825299] [-0.00298331 0.99999245 0.00248827 0.1691428 ] [-0.02331914 -0.00255718 0.9997248 -0.17444012] [ 0. 0. 0. 1. ]] SLAMing on 11.28719347 meters Centerline goodness : 0.873228 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99972596 0.00537475 0.02278407 0.68135199] [-0.00547631 0.99997534 0.0043974 0.16935593] [-0.02275987 -0.00452097 0.99973074 -0.17697381] [ 0. 0. 0. 1. ]] SLAMing on 11.31719347 meters Centerline goodness : 0.871340 Centerline is valid? [False, False] Translation: X:0.68, Y:0.17, Z:-0.18 [[ 0.99973047 0.00603731 0.02241752 0.68330378] [-0.0061574 0.99996704 0.00529189 0.16809989] [-0.02238483 -0.00542849 0.99973469 -0.17877489] [ 0. 0. 0. 1. ]] SLAMing on 11.34719347 meters Centerline goodness : 0.868048 Centerline is valid? [False, False] Translation: X:0.69, Y:0.16, Z:-0.18 [[ 0.99977143 0.00231069 0.02125431 0.68947009] [-0.0023498 0.99999559 0.00181541 0.16423396] [-0.02125003 -0.00186494 0.99977245 -0.18411649] [ 0. 0. 0. 1. ]] SLAMing on 11.37719347 meters Centerline goodness : 0.870123 Centerline is valid? [False, False] Translation: X:0.69, Y:0.16, Z:-0.19 [[ 0.9997735 -0.0044033 0.02082227 0.69165936] [ 0.00448058 0.99998324 -0.00366638 0.15741851] [-0.02080578 0.00375885 0.99977647 -0.18615725] [ 0. 0. 0. 1. ]] SLAMing on 11.407193470000001 meters Centerline goodness : 0.869485 Centerline is valid? [False, False] Translation: X:0.69, Y:0.15, Z:-0.19 [[ 0.99975488 -0.00807507 0.02061504 0.69167644] [ 0.00820713 0.99994629 -0.00632937 0.15336349] [-0.02056283 0.00649701 0.99976745 -0.18551407] [ 0. 0. 0. 1. ]] SLAMing on 11.43719347 meters Centerline goodness : 0.871204 Centerline is valid? [False, False] Translation: X:0.70, Y:0.14, Z:-0.18 [[ 0.99968342 -0.01659815 0.01890933 0.696766 ] [ 0.01656485 0.99986096 0.00191652 0.14051304] [-0.01893851 -0.00160269 0.99981937 -0.18286527] [ 0. 0. 0. 1. ]] SLAMing on 11.46719347 meters Centerline goodness : 0.872058 Centerline is valid? [False, False] Translation: X:0.71, Y:0.13, Z:-0.18 [[ 0.99950248 -0.0213474 0.02321824 0.71050412] [ 0.02117732 0.99974725 0.00754647 0.12755345] [-0.02337347 -0.00705102 0.99970194 -0.18481447] [ 0. 0. 0. 1. ]] SLAMing on 11.497193470000001 meters Centerline goodness : 0.871500 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.19 [[ 0.9994738 -0.0231216 0.02274914 0.71233981] [ 0.02295828 0.99970893 0.0074146 0.11644357] [-0.02291396 -0.00688842 0.99971371 -0.1855695 ] [ 0. 0. 0. 1. ]] SLAMing on 11.52719347 meters Centerline goodness : 0.870668 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.19 [[ 0.9995105 -0.02181259 0.02242697 0.71391291] [ 0.02160016 0.99971991 0.00967111 0.11078883] [-0.02263164 -0.00918195 0.99970171 -0.18686418] [ 0. 0. 0. 1. ]] SLAMing on 11.55719347 meters Centerline goodness : 0.870053 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.19 [[ 0.99953534 -0.02086862 0.02221719 0.71467393] [ 0.02062332 0.99972443 0.01121379 0.10668821] [-0.02244508 -0.01075039 0.99969028 -0.18729057] [ 0. 0. 0. 1. ]] SLAMing on 11.58719347 meters Centerline goodness : 0.869581 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.19 [[ 0.99955053 -0.02131869 0.02107745 0.71810311] [ 0.02108048 0.9997121 0.01146013 0.09701019] [-0.02131569 -0.01101066 0.99971216 -0.188416 ] [ 0. 0. 0. 1. ]] SLAMing on 11.61719347 meters Centerline goodness : 0.869754 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.19 [[ 0.99950916 -0.02358749 0.02061706 0.72046512] [ 0.02339848 0.99968239 0.00936129 0.09416582] [-0.02083132 -0.00887429 0.99974362 -0.19014889] [ 0. 0. 0. 1. ]] SLAMing on 11.64719347 meters Centerline goodness : 0.871728 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.19 [[ 0.99941992 -0.02695294 0.02081728 0.72041345] [ 0.0268124 0.99961597 0.00700097 0.08986334] [-0.02099799 -0.00643875 0.99975878 -0.19006343] [ 0. 0. 0. 1. ]] SLAMing on 11.67719347 meters Centerline goodness : 0.870114 Centerline is valid? [False, False] Translation: X:0.72, Y:0.09, Z:-0.19 [[ 0.99932701 -0.03038885 0.02054386 0.72163189] [ 0.03030364 0.99953085 0.00444651 0.0862774 ] [-0.02066935 -0.00382096 0.99977906 -0.19066749] [ 0. 0. 0. 1. ]] SLAMing on 11.70719347 meters Centerline goodness : 0.868375 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.19 [[ 0.9992486 -0.03314839 0.02008556 0.72408685] [ 0.03311283 0.99944941 0.00210056 0.08296835] [-0.02014413 -0.0014339 0.99979606 -0.19247567] [ 0. 0. 0. 1. ]] SLAMing on 11.737193470000001 meters Centerline goodness : 0.874945 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99901217 -0.03824194 0.02263259 0.74219634] [ 0.03813346 0.9992591 0.00520568 0.07468867] [-0.02281489 -0.00433748 0.9997303 -0.19714389] [ 0. 0. 0. 1. ]] SLAMing on 11.76719347 meters Centerline goodness : 0.874806 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99897975 -0.03920859 0.02240851 0.74241938] [ 0.03909617 0.99922068 0.00543331 0.07338242] [-0.02260408 -0.00455168 0.99973413 -0.19705164] [ 0. 0. 0. 1. ]] SLAMing on 11.79719347 meters Centerline goodness : 0.873003 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99909181 -0.03635667 0.02222052 0.74256439] [ 0.03614902 0.99929956 0.00967663 0.07146875] [-0.02255677 -0.00886459 0.99970626 -0.19696947] [ 0. 0. 0. 1. ]] SLAMing on 11.827193470000001 meters Centerline goodness : 0.876313 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99896003 -0.0397967 0.02225042 0.74300661] [ 0.03967378 0.99919504 0.00593881 0.0711856 ] [-0.02246886 -0.00504987 0.99973479 -0.19705103] [ 0. 0. 0. 1. ]] SLAMing on 11.85719347 meters Centerline goodness : 0.871506 Centerline is valid? [False, False] Translation: X:0.74, Y:0.07, Z:-0.20 [[ 0.99908495 -0.03662875 0.02208175 0.74376666] [ 0.03641499 0.99928666 0.01000602 0.06882995] [-0.02243251 -0.00919275 0.99970609 -0.19807141] [ 0. 0. 0. 1. ]] SLAMing on 11.88719347 meters Centerline goodness : 0.871907 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.20 [[ 0.99920713 -0.03370963 0.02118431 0.7486407 ] [ 0.03344542 0.99935979 0.01270525 0.07071796] [-0.02159903 -0.01198665 0.99969485 -0.20274004] [ 0. 0. 0. 1. ]] SLAMing on 11.91719347 meters Centerline goodness : 0.873287 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.20 [[ 0.99933966 -0.02967654 0.02096554 0.74931085] [ 0.02933876 0.9994376 0.01623947 0.07258517] [-0.02143568 -0.01561365 0.9996483 -0.20340502] [ 0. 0. 0. 1. ]] SLAMing on 11.94719347 meters Centerline goodness : 0.876367 Centerline is valid? [False, False] Translation: X:0.75, Y:0.07, Z:-0.20 [[ 0.99944742 -0.02595525 0.02076477 0.74920853] [ 0.02554566 0.99947848 0.01975334 0.07368153] [-0.02126664 -0.01921197 0.99958923 -0.20300523] [ 0. 0. 0. 1. ]] SLAMing on 11.97719347 meters Centerline goodness : 0.875675 Centerline is valid? [False, False] Translation: X:0.75, Y:0.08, Z:-0.20 [[ 0.99952657 -0.02245863 0.0210298 0.74698195] [ 0.02200433 0.99952471 0.02159078 0.07964519] [-0.0215047 -0.02111781 0.99954569 -0.20029916] [ 0. 0. 0. 1. ]] SLAMing on 12.00719347 meters Centerline goodness : 0.876793 Centerline is valid? [False, False] Translation: X:0.75, Y:0.08, Z:-0.20 [[ 0.99953142 -0.02205968 0.02122067 0.74621019] [ 0.02162975 0.99956033 0.02028063 0.08448536] [-0.02165872 -0.01981213 0.9995691 -0.19917368] [ 0. 0. 0. 1. ]] SLAMing on 12.03719347 meters Centerline goodness : 0.876833 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.20 [[ 0.99952816 -0.0222244 0.02120228 0.74617957] [ 0.02181457 0.9995744 0.01936878 0.08637525] [-0.02162372 -0.01889712 0.99958757 -0.19901737] [ 0. 0. 0. 1. ]] SLAMing on 12.06719347 meters Centerline goodness : 0.878945 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.20 [[ 0.99952424 -0.02245706 0.02114178 0.74651164] [ 0.02205645 0.99957627 0.01899476 0.08705026] [-0.02155939 -0.01851941 0.99959603 -0.19933119] [ 0. 0. 0. 1. ]] SLAMing on 12.09719347 meters Centerline goodness : 0.874847 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.20 [[ 0.99949608 -0.02413207 0.02062098 0.74917968] [ 0.02377648 0.99956728 0.01731851 0.08881026] [-0.02102998 -0.01681949 0.99963736 -0.20165555] [ 0. 0. 0. 1. ]] SLAMing on 12.12719347 meters Centerline goodness : 0.872413 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.21 [[ 0.99946191 -0.0260912 0.01987798 0.75403031] [ 0.02578763 0.99954916 0.01537798 0.08893444] [-0.02027025 -0.0148571 0.99968414 -0.20621861] [ 0. 0. 0. 1. ]] SLAMing on 12.157193470000001 meters Centerline goodness : 0.872130 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.21 [[ 0.99940688 -0.02859234 0.01919272 0.75742687] [ 0.028345 0.99951317 0.01303797 0.08703726] [-0.01955616 -0.01248622 0.99973079 -0.20882838] [ 0. 0. 0. 1. ]] SLAMing on 12.18719347 meters Centerline goodness : 0.870941 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.21 [[ 0.99941131 -0.02850477 0.01909219 0.75787405] [ 0.02824764 0.99950837 0.01360488 0.08512925] [-0.01947061 -0.01305756 0.99972516 -0.2091543 ] [ 0. 0. 0. 1. ]] SLAMing on 12.21719347 meters Centerline goodness : 0.872294 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.21 [[ 0.99931083 -0.03188581 0.01900443 0.75767762] [ 0.03169796 0.99944641 0.01010494 0.08549371] [-0.01931612 -0.00949558 0.99976833 -0.2081368 ] [ 0. 0. 0. 1. ]] SLAMing on 12.247193470000001 meters Centerline goodness : 0.871512 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.21 [[ 0.99927108 -0.03312883 0.01896819 0.75738856] [ 0.03294346 0.99940716 0.01000332 0.08486766] [-0.01928835 -0.00937115 0.99977004 -0.20752417] [ 0. 0. 0. 1. ]] SLAMing on 12.27719347 meters Centerline goodness : 0.869364 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.21 [[ 0.99923776 -0.03411513 0.01897522 0.75731339] [ 0.03393293 0.99937565 0.00984235 0.08346546] [-0.01929915 -0.00919097 0.99977151 -0.20724909] [ 0. 0. 0. 1. ]] SLAMing on 12.30719347 meters Centerline goodness : 0.874816 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.21 [[ 0.99886593 -0.04073408 0.02464929 0.76902331] [ 0.04042321 0.99909832 0.01298157 0.08165983] [-0.02515585 -0.01197044 0.99961187 -0.21139228] [ 0. 0. 0. 1. ]] SLAMing on 12.33719347 meters Centerline goodness : 0.874888 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.21 [[ 0.99890291 -0.03947982 0.02518585 0.76643377] [ 0.03913483 0.9991352 0.01404701 0.08562592] [-0.02571865 -0.01304595 0.99958409 -0.20931879] [ 0. 0. 0. 1. ]] SLAMing on 12.36719347 meters Centerline goodness : 0.874888 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.21 [[ 0.99890435 -0.03938177 0.0252819 0.76634024] [ 0.03903896 0.99914083 0.01391297 0.08597781] [-0.0258081 -0.01291075 0.99958354 -0.20929239] [ 0. 0. 0. 1. ]] SLAMing on 12.39719347 meters Centerline goodness : 0.877808 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:-0.21 [[ 0.99900929 -0.03657169 0.02535639 0.76537033] [ 0.03617042 0.99921582 0.01610756 0.09036416] [-0.02592559 -0.01517445 0.9995487 -0.20854995] [ 0. 0. 0. 1. ]] SLAMing on 12.42719347 meters Centerline goodness : 0.877715 Centerline is valid? [False, False] Translation: X:0.77, Y:0.10, Z:-0.21 [[ 0.9992077 -0.03080052 0.02520524 0.76583183] [ 0.03030781 0.99934642 0.01970193 0.10273866] [-0.02579559 -0.0189224 0.99948813 -0.20940397] [ 0. 0. 0. 1. ]] SLAMing on 12.45719347 meters Centerline goodness : 0.874770 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.21 [[ 0.999409 -0.02866139 0.01897812 0.77762865] [ 0.02843921 0.99952498 0.01187552 0.11783195] [-0.01930947 -0.01132878 0.99974937 -0.21332187] [ 0. 0. 0. 1. ]] SLAMing on 12.487193470000001 meters Centerline goodness : 0.873580 Centerline is valid? [False, False] Translation: X:0.78, Y:0.12, Z:-0.22 [[ 0.99940148 -0.02909497 0.01871276 0.78029732] [ 0.02890934 0.99953085 0.01011534 0.12407943] [-0.01899828 -0.00956832 0.99977373 -0.21614323] [ 0. 0. 0. 1. ]] SLAMing on 12.51719347 meters Centerline goodness : 0.873008 Centerline is valid? [False, False] Translation: X:0.78, Y:0.14, Z:-0.22 [[ 0.99940266 -0.02909024 0.018657 0.78066219] [ 0.02892714 0.99954142 0.00895339 0.13780789] [-0.0189089 -0.00840835 0.99978585 -0.21710795] [ 0. 0. 0. 1. ]] SLAMing on 12.54719347 meters Centerline goodness : 0.873506 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.22 [[ 0.99931179 -0.0319899 0.01877729 0.77924683] [ 0.03188733 0.99947501 0.00573658 0.15002241] [-0.01895094 -0.00513387 0.99980723 -0.21643686] [ 0. 0. 0. 1. ]] SLAMing on 12.577193470000001 meters Centerline goodness : 0.871244 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.22 [[ 0.9992801 -0.03301499 0.01868951 0.77918949] [ 0.03294225 0.99944849 0.00418682 0.15401613] [-0.01881743 -0.00356813 0.99981657 -0.21613655] [ 0. 0. 0. 1. ]] SLAMing on 12.60719347 meters Centerline goodness : 0.874218 Centerline is valid? [False, False] Translation: X:0.78, Y:0.16, Z:-0.22 [[ 9.99173689e-01 -3.59222345e-02 1.90140133e-02 7.77747088e-01] [ 3.59221264e-02 9.99354532e-01 3.47334959e-04 1.63095510e-01] [-1.90142174e-02 3.35975838e-04 9.99819157e-01 -2.15081283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63719347 meters Centerline goodness : 0.875266 Centerline is valid? [False, False] Translation: X:0.77, Y:0.17, Z:-0.21 [[ 9.99118689e-01 -3.67206181e-02 2.03332417e-02 7.72993594e-01] [ 3.67402088e-02 9.99324676e-01 -5.90628789e-04 1.74633013e-01] [-2.02978219e-02 1.33715581e-03 9.99793084e-01 -2.13092453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66719347 meters Centerline goodness : 0.878613 Centerline is valid? [False, False] Translation: X:0.77, Y:0.18, Z:-0.21 [[ 9.99211643e-01 -3.40958274e-02 2.03363342e-02 7.72433837e-01] [ 3.40772883e-02 9.99418409e-01 1.25756608e-03 1.80113847e-01] [-2.03673845e-02 -5.63567544e-04 9.99792404e-01 -2.12750829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69719347 meters Centerline goodness : 0.875720 Centerline is valid? [False, False] Translation: X:0.77, Y:0.19, Z:-0.21 [[ 0.99933752 -0.0306847 0.01956942 0.77433363] [ 0.03064883 0.99952794 0.00213052 0.19440917] [-0.01962556 -0.00152933 0.99980623 -0.21346175] [ 0. 0. 0. 1. ]] SLAMing on 12.72719347 meters Centerline goodness : 0.875003 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:-0.22 [[ 0.99954174 -0.02541676 0.0164408 0.78049568] [ 0.02544105 0.99967552 -0.00126979 0.21261254] [-0.0164032 0.00168748 0.99986403 -0.21555865] [ 0. 0. 0. 1. ]] SLAMing on 12.75719347 meters Centerline goodness : 0.878987 Centerline is valid? [False, False] Translation: X:0.78, Y:0.23, Z:-0.22 [[ 0.99973101 -0.01704042 0.01573301 0.7826454 ] [ 0.01709685 0.99984786 -0.00345885 0.23257652] [-0.01567167 0.0037269 0.99987025 -0.21534693] [ 0. 0. 0. 1. ]] SLAMing on 12.78719347 meters Centerline goodness : 0.878656 Centerline is valid? [False, False] Translation: X:0.77, Y:0.24, Z:-0.21 [[ 0.99989379 -0.00752883 0.01247865 0.77465326] [ 0.00764702 0.9999261 -0.00945099 0.24232676] [-0.01240658 0.00954541 0.99987747 -0.2115174 ] [ 0. 0. 0. 1. ]] SLAMing on 12.81719347 meters Centerline goodness : 0.881478 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:-0.20 [[ 0.99996608 0.00426682 0.00704533 0.76272688] [-0.00418434 0.99992302 -0.01168084 0.26423166] [-0.00709463 0.01165096 0.99990696 -0.20295399] [ 0. 0. 0. 1. ]] SLAMing on 12.84719347 meters Centerline goodness : 0.874516 Centerline is valid? [False, False] Translation: X:0.77, Y:0.28, Z:-0.20 [[ 0.99991532 0.01147217 0.00614362 0.76650502] [-0.01141886 0.99989745 -0.00864344 0.2796166 ] [-0.00624215 0.00857256 0.99994377 -0.20414323] [ 0. 0. 0. 1. ]] SLAMing on 12.87719347 meters Centerline goodness : 0.872329 Centerline is valid? [False, False] Translation: X:0.77, Y:0.28, Z:-0.21 [[ 0.99986843 0.0150899 0.0059505 0.76838209] [-0.01505386 0.99986835 -0.00605562 0.28456073] [-0.0060411 0.00596524 0.99996396 -0.20574589] [ 0. 0. 0. 1. ]] SLAMing on 12.907193470000001 meters Centerline goodness : 0.869365 Centerline is valid? [False, False] Translation: X:0.79, Y:0.30, Z:-0.21 [[ 9.99805565e-01 1.94144870e-02 3.45112091e-03 7.87457192e-01] [-1.94174436e-02 9.99811123e-01 8.25254150e-04 2.95951893e-01] [-3.43444718e-03 -8.92105637e-04 9.99993704e-01 -2.07157580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93719347 meters Centerline goodness : 0.865892 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99676101e-01 2.54220559e-02 1.18863404e-03 8.08949928e-01] [-2.54317777e-02 9.99635677e-01 9.04085380e-03 3.06268852e-01] [-9.58363904e-04 -9.06815455e-03 9.99958424e-01 -2.08553890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96719347 meters Centerline goodness : 0.858996 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99545825e-01 3.01215870e-02 9.12759366e-04 8.11237895e-01] [-3.01307276e-02 9.99465988e-01 1.26442787e-02 3.10080480e-01] [-5.31406200e-04 -1.26660381e-02 9.99919641e-01 -2.10261756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.997193470000001 meters Centerline goodness : 0.859847 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99538688e-01 3.03661556e-02 5.55111829e-04 8.12209008e-01] [-3.03706799e-02 9.99463561e-01 1.22561098e-02 3.11810010e-01] [-1.82643109e-04 -1.22673150e-02 9.99924737e-01 -2.10437340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02719347 meters Centerline goodness : 0.861558 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99522947e-01 3.08843160e-02 1.93822862e-04 8.13419292e-01] [-3.08844269e-02 9.99451558e-01 1.19471799e-02 3.14107204e-01] [ 1.75263918e-04 -1.19474666e-02 9.99928611e-01 -2.10726127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05719347 meters Centerline goodness : 0.862434 Centerline is valid? [False, False] Translation: X:0.81, Y:0.32, Z:-0.21 [[ 9.99617380e-01 2.76600405e-02 -1.26128589e-04 8.13842220e-01] [-2.76582238e-02 9.99587187e-01 7.77674953e-03 3.16153028e-01] [ 3.41181729e-04 -7.77028550e-03 9.99969753e-01 -2.09930002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08719347 meters Centerline goodness : 0.868316 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.21 [[ 9.99728013e-01 2.33185265e-02 -3.81918889e-04 8.11850442e-01] [-2.33170843e-02 9.99722257e-01 3.42383659e-03 3.14576002e-01] [ 4.61651638e-04 -3.41400012e-03 9.99994066e-01 -2.06633350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11719347 meters Centerline goodness : 0.873684 Centerline is valid? [False, False] Translation: X:0.81, Y:0.31, Z:-0.20 [[ 9.99896410e-01 1.43840285e-02 -5.19482669e-04 8.10512716e-01] [-1.43862729e-02 9.99885877e-01 -4.61179967e-03 3.06673431e-01] [ 4.53087127e-04 4.61879535e-03 9.99989231e-01 -2.04937667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14719347 meters Centerline goodness : 0.875428 Centerline is valid? [False, False] Translation: X:0.81, Y:0.30, Z:-0.21 [[ 9.99940749e-01 1.08478081e-02 -9.07650561e-04 8.11573802e-01] [-1.08538051e-02 9.99917385e-01 -6.88604845e-03 3.00985404e-01] [ 8.32877043e-04 6.89549191e-03 9.99975879e-01 -2.05886724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17719347 meters Centerline goodness : 0.875546 Centerline is valid? [False, False] Translation: X:0.82, Y:0.29, Z:-0.21 [[ 9.99990432e-01 6.00351635e-04 -4.33302410e-03 8.18342168e-01] [-6.00435010e-04 9.99999820e-01 -1.79410237e-05 2.90591898e-01] [ 4.33301255e-03 2.05425514e-05 9.99990612e-01 -2.05850222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20719347 meters Centerline goodness : 0.876030 Centerline is valid? [False, False] Translation: X:0.83, Y:0.28, Z:-0.21 [[ 9.99979010e-01 -6.42667231e-03 8.23110269e-04 8.29215141e-01] [ 6.42253654e-03 9.99967211e-01 4.93234304e-03 2.80939061e-01] [-8.54781833e-04 -4.92695306e-03 9.99987497e-01 -2.08811556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23719347 meters Centerline goodness : 0.876437 Centerline is valid? [False, False] Translation: X:0.83, Y:0.27, Z:-0.21 [[ 9.99960554e-01 -8.87721228e-03 2.92727355e-04 8.31219599e-01] [ 8.87595730e-03 9.99952443e-01 4.04101609e-03 2.70371996e-01] [-3.28586391e-04 -4.03825846e-03 9.99991792e-01 -2.10031178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26719347 meters Centerline goodness : 0.876384 Centerline is valid? [False, False] Translation: X:0.83, Y:0.27, Z:-0.21 [[ 9.99936035e-01 -1.13020830e-02 -4.35420582e-04 8.34069747e-01] [ 1.13030127e-02 9.99933709e-01 2.19527439e-03 2.66100199e-01] [ 4.10580544e-04 -2.20005553e-03 9.99997496e-01 -2.11826755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29719347 meters Centerline goodness : 0.873733 Centerline is valid? [False, False] Translation: X:0.85, Y:0.25, Z:-0.22 [[ 9.99878471e-01 -1.55718382e-02 7.49242751e-04 8.51789321e-01] [ 1.55623557e-02 9.99814712e-01 1.13294106e-02 2.53952733e-01] [-9.25523674e-04 -1.13163737e-02 9.99935539e-01 -2.19641232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327193470000001 meters Centerline goodness : 0.872213 Centerline is valid? [False, False] Translation: X:0.85, Y:0.25, Z:-0.22 [[ 9.99833316e-01 -1.82563009e-02 2.19662568e-04 8.53747960e-01] [ 1.82534438e-02 9.99789529e-01 9.36530363e-03 2.49875956e-01] [-3.90592137e-04 -9.35973298e-03 9.99956120e-01 -2.20648964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35719347 meters Centerline goodness : 0.871691 Centerline is valid? [False, False] Translation: X:0.87, Y:0.24, Z:-0.22 [[ 0.99978406 -0.02045987 0.00363558 0.86958633] [ 0.02039416 0.99964273 0.01727666 0.23838415] [-0.00398776 -0.01719878 0.99984414 -0.22340202] [ 0. 0. 0. 1. ]] SLAMing on 13.38719347 meters Centerline goodness : 0.868737 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.22 [[ 0.99974868 -0.02223617 0.00285286 0.87035268] [ 0.02218679 0.99962087 0.01630502 0.23099462] [-0.00321434 -0.01623762 0.99986299 -0.22195795] [ 0. 0. 0. 1. ]] SLAMing on 13.41719347 meters Centerline goodness : 0.867987 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.22 [[ 0.99969994 -0.02438744 0.00229812 0.87250876] [ 0.02435298 0.99960554 0.01398944 0.22854276] [-0.00263838 -0.01392927 0.9998995 -0.22279298] [ 0. 0. 0. 1. ]] SLAMing on 13.44719347 meters Centerline goodness : 0.868179 Centerline is valid? [False, False] Translation: X:0.87, Y:0.22, Z:-0.22 [[ 0.99973842 -0.02278574 0.00197625 0.87328514] [ 0.02275082 0.99961014 0.01618545 0.22249231] [-0.00234428 -0.01613625 0.99986705 -0.22277038] [ 0. 0. 0. 1. ]] SLAMing on 13.47719347 meters Centerline goodness : 0.869161 Centerline is valid? [False, False] Translation: X:0.87, Y:0.22, Z:-0.22 [[ 0.99976127 -0.02179027 0.0016094 0.87291306] [ 0.0217584 0.99960656 0.01770008 0.21732348] [-0.00199445 -0.01766084 0.99984205 -0.22108131] [ 0. 0. 0. 1. ]] SLAMing on 13.50719347 meters Centerline goodness : 0.869540 Centerline is valid? [False, False] Translation: X:0.87, Y:0.21, Z:-0.22 [[ 0.999777 -0.02107466 0.00134392 0.87376036] [ 0.02104521 0.99959656 0.01907385 0.21376046] [-0.00174536 -0.01904131 0.99981717 -0.22152083] [ 0. 0. 0. 1. ]] SLAMing on 13.53719347 meters Centerline goodness : 0.869767 Centerline is valid? [False, False] Translation: X:0.88, Y:0.21, Z:-0.22 [[ 9.99729611e-01 -2.32441762e-02 6.43189715e-04 8.76558195e-01] [ 2.32291628e-02 9.99573543e-01 1.76957162e-02 2.09093108e-01] [-1.05423777e-03 -1.76759907e-02 9.99843212e-01 -2.23098222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56719347 meters Centerline goodness : 0.867714 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.22 [[ 9.99674900e-01 -2.54966060e-02 -1.32367150e-04 8.79666190e-01] [ 2.54953623e-02 9.99541270e-01 1.63473307e-02 2.04144982e-01] [-2.84495020e-04 -1.63453909e-02 9.99866365e-01 -2.24991981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59719347 meters Centerline goodness : 0.867776 Centerline is valid? [False, False] Translation: X:0.88, Y:0.20, Z:-0.23 [[ 9.99558142e-01 -2.97070478e-02 -1.00588771e-03 8.84714644e-01] [ 2.97171885e-02 9.99482549e-01 1.23094398e-02 1.98641018e-01] [ 6.39690093e-04 -1.23338929e-02 9.99923730e-01 -2.28338110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62719347 meters Centerline goodness : 0.867067 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.23 [[ 9.99577694e-01 -2.90317660e-02 -1.26092870e-03 8.85763608e-01] [ 2.90464154e-02 9.99482843e-01 1.37968365e-02 1.94724833e-01] [ 8.59730072e-04 -1.38276355e-02 9.99904024e-01 -2.29104546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657193470000001 meters Centerline goodness : 0.867070 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:-0.23 [[ 9.99588456e-01 -2.86582588e-02 -1.27401151e-03 8.84631149e-01] [ 2.86741738e-02 9.99476017e-01 1.50160837e-02 1.89819691e-01] [ 8.43009132e-04 -1.50464352e-02 9.99886441e-01 -2.27364439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68719347 meters Centerline goodness : 0.870081 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:-0.23 [[ 0.9995301 -0.03060245 -0.00175108 0.88633231] [ 0.03062316 0.99944158 0.0133697 0.18670092] [ 0.00134095 -0.01341704 0.99990909 -0.22775236] [ 0. 0. 0. 1. ]] SLAMing on 13.71719347 meters Centerline goodness : 0.869263 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.99954118 -0.03022516 -0.00196915 0.8871138 ] [ 0.03025042 0.99943876 0.01439044 0.18426433] [ 0.00153309 -0.0144434 0.99989451 -0.22824228] [ 0. 0. 0. 1. ]] SLAMing on 13.747193470000001 meters Centerline goodness : 0.867098 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.99945819 -0.03283017 -0.00234859 0.88973608] [ 0.03285666 0.99938433 0.01230455 0.18137794] [ 0.00194318 -0.01237505 0.99992154 -0.23034129] [ 0. 0. 0. 1. ]] SLAMing on 13.77719347 meters Centerline goodness : 0.869841 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:-0.23 [[ 0.99939836 -0.03456539 -0.00285675 0.89293461] [ 0.03459301 0.99934879 0.01026283 0.18126113] [ 0.00250015 -0.01035548 0.99994326 -0.23274815] [ 0. 0. 0. 1. ]] SLAMing on 13.80719347 meters Centerline goodness : 0.866706 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99946818 -0.03243724 -0.0033436 0.89586817] [ 0.03247424 0.99940432 0.0116804 0.18220695] [ 0.00296273 -0.01178277 0.99992619 -0.23519523] [ 0. 0. 0. 1. ]] SLAMing on 13.83719347 meters Centerline goodness : 0.869941 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99960256 -0.02791743 -0.00391538 0.89672879] [ 0.02797396 0.99949285 0.01521515 0.18459559] [ 0.00348863 -0.01531863 0.99987658 -0.23504131] [ 0. 0. 0. 1. ]] SLAMing on 13.86719347 meters Centerline goodness : 0.868369 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.24 [[ 0.99963054 -0.02678616 -0.00461309 0.89921449] [ 0.02685584 0.99951491 0.01577058 0.18601695] [ 0.00418841 -0.01588864 0.99986499 -0.23651976] [ 0. 0. 0. 1. ]] SLAMing on 13.89719347 meters Centerline goodness : 0.868579 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.24 [[ 0.99963396 -0.02660608 -0.00490517 0.90035608] [ 0.02668062 0.99951888 0.01581594 0.18723034] [ 0.00448201 -0.01594102 0.99986289 -0.23731547] [ 0. 0. 0. 1. ]] SLAMing on 13.92719347 meters Centerline goodness : 0.868223 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.24 [[ 0.99951244 -0.03080531 -0.00509082 0.90109982] [ 0.03086503 0.99945029 0.01210223 0.18596797] [ 0.0047152 -0.01225346 0.99991381 -0.23757282] [ 0. 0. 0. 1. ]] SLAMing on 13.95719347 meters Centerline goodness : 0.867766 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99939395 -0.03439202 -0.00537795 0.90241742] [ 0.03443831 0.99936838 0.00876587 0.18451086] [ 0.00507307 -0.00894577 0.99994712 -0.23820126] [ 0. 0. 0. 1. ]] SLAMing on 13.98719347 meters Centerline goodness : 0.867345 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.24 [[ 0.99924704 -0.03844316 -0.00524156 0.90249913] [ 0.03847384 0.99924229 0.00588359 0.18011773] [ 0.00501141 -0.00608083 0.99996895 -0.23808588] [ 0. 0. 0. 1. ]] SLAMing on 14.01719347 meters Centerline goodness : 0.870171 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:-0.24 [[ 0.99913548 -0.04154754 0.00144775 0.91136128] [ 0.04152611 0.99905832 0.01257207 0.17758151] [-0.00196872 -0.01250109 0.99991992 -0.23919118] [ 0. 0. 0. 1. ]] SLAMing on 14.04719347 meters Centerline goodness : 0.870656 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:-0.24 [[ 9.99177733e-01 -4.05343578e-02 9.07366314e-04 9.12286443e-01] [ 4.05184362e-02 9.99087541e-01 1.35034272e-02 1.76859283e-01] [-1.45389113e-03 -1.34555587e-02 9.99908413e-01 -2.38832423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077193470000001 meters Centerline goodness : 0.873254 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:-0.24 [[ 9.99208828e-01 -3.97651748e-02 6.70124025e-04 9.13202507e-01] [ 3.97517123e-02 9.99109215e-01 1.41625785e-02 1.76044417e-01] [-1.23270450e-03 -1.41247349e-02 9.99899481e-01 -2.39376335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10719347 meters Centerline goodness : 0.870095 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99281784e-01 -3.78933241e-02 1.12977583e-04 9.15638367e-01] [ 3.78868620e-02 9.99158262e-01 1.57274721e-02 1.74538945e-01] [-7.08848683e-04 -1.57118960e-02 9.99876309e-01 -2.41070161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13719347 meters Centerline goodness : 0.869869 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99349836e-01 -3.60502619e-02 -5.32337284e-04 9.18280438e-01] [ 3.60540892e-02 9.99202786e-01 1.71433447e-02 1.73458685e-01] [-8.61091688e-05 -1.71513917e-02 9.99852900e-01 -2.42746745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16719347 meters Centerline goodness : 0.870737 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99363636e-01 -3.56576844e-02 -9.22940393e-04 9.19311692e-01] [ 3.56683849e-02 9.99210174e-01 1.75155417e-02 1.73238744e-01] [ 2.97647772e-04 -1.75373153e-02 9.99846165e-01 -2.43140006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19719347 meters Centerline goodness : 0.870483 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 9.99364182e-01 -3.56333829e-02 -1.22245376e-03 9.19943016e-01] [ 3.56496638e-02 9.99201076e-01 1.80640989e-02 1.71924648e-01] [ 5.77792155e-04 -1.80961935e-02 9.99836084e-01 -2.43217811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22719347 meters Centerline goodness : 0.869794 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99925083 -0.03866344 -0.00170821 0.922155 ] [ 0.03868509 0.99913436 0.01529708 0.17075301] [ 0.00111529 -0.01535171 0.99988153 -0.24446961] [ 0. 0. 0. 1. ]] SLAMing on 14.25719347 meters Centerline goodness : 0.868131 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.25 [[ 0.99926451 -0.03829024 -0.00207462 0.92352526] [ 0.03831874 0.99913577 0.01610536 0.16880567] [ 0.00145615 -0.01617301 0.99986815 -0.24539148] [ 0. 0. 0. 1. ]] SLAMing on 14.28719347 meters Centerline goodness : 0.868131 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.25 [[ 0.99926451 -0.03829024 -0.00207462 0.92352526] [ 0.03831874 0.99913577 0.01610536 0.16880567] [ 0.00145615 -0.01617301 0.99986815 -0.24539148] [ 0. 0. 0. 1. ]] SLAMing on 14.31719347 meters Centerline goodness : 0.871161 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.25 [[ 0.99928696 -0.03768265 -0.00236239 0.92470042] [ 0.03771666 0.99915148 0.01654588 0.16782334] [ 0.00173689 -0.01662318 0.99986032 -0.24609853] [ 0. 0. 0. 1. ]] SLAMing on 14.34719347 meters Centerline goodness : 0.870853 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99930146 -0.03728366 -0.00255524 0.92440978] [ 0.03732014 0.99917301 0.01614004 0.16976951] [ 0.00195137 -0.01622413 0.99986648 -0.24492765] [ 0. 0. 0. 1. ]] SLAMing on 14.37719347 meters Centerline goodness : 0.876026 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99942158 -0.0339443 -0.00207166 0.92085556] [ 0.03397653 0.99925564 0.01826914 0.17296051] [ 0.00144999 -0.01832896 0.99983096 -0.24097252] [ 0. 0. 0. 1. ]] SLAMing on 14.40719347 meters Centerline goodness : 0.874750 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99943408 -0.03354452 -0.00250723 0.92257145] [ 0.03358506 0.99926646 0.01840093 0.17366523] [ 0.00188814 -0.01847472 0.99982754 -0.24221078] [ 0. 0. 0. 1. ]] SLAMing on 14.43719347 meters Centerline goodness : 0.874503 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99915317 -0.04106914 -0.00250566 0.92405204] [ 0.04109419 0.99909541 0.01093742 0.17426702] [ 0.0020542 -0.01103113 0.99993705 -0.24325129] [ 0. 0. 0. 1. ]] SLAMing on 14.46719347 meters Centerline goodness : 0.873782 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.24 [[ 0.99909398 -0.04248246 -0.00254089 0.92413229] [ 0.04250746 0.99903818 0.01076256 0.17149229] [ 0.00208122 -0.01086081 0.99993885 -0.24329441] [ 0. 0. 0. 1. ]] SLAMing on 14.497193470000001 meters Centerline goodness : 0.874597 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.25 [[ 0.99851177 -0.05448097 0.0024645 0.93646771] [ 0.05445247 0.99846178 0.01044061 0.16667999] [-0.00302952 -0.01029088 0.99994246 -0.24726097] [ 0. 0. 0. 1. ]] SLAMing on 14.52719347 meters Centerline goodness : 0.876160 Centerline is valid? [False, False] Translation: X:0.95, Y:0.16, Z:-0.25 [[ 0.99816575 -0.06015362 0.00683144 0.94907658] [ 0.06003677 0.99806493 0.01618586 0.16407293] [-0.00779186 -0.01574603 0.99984566 -0.25203957] [ 0. 0. 0. 1. ]] SLAMing on 14.55719347 meters Centerline goodness : 0.875563 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99742329 -0.07095806 0.01057056 0.97770449] [ 0.07040617 0.99647162 0.04568669 0.15674479] [-0.0137751 -0.04482474 0.99889989 -0.25753967] [ 0. 0. 0. 1. ]] SLAMing on 14.58719347 meters Centerline goodness : 0.874100 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99739998 -0.07130206 0.01045414 0.97837145] [ 0.07075647 0.99645149 0.04558445 0.15585836] [-0.01366731 -0.04472623 0.99890579 -0.25803436] [ 0. 0. 0. 1. ]] SLAMing on 14.61719347 meters Centerline goodness : 0.873749 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99745619 -0.07029255 0.01183691 0.97651383] [ 0.06971749 0.99661859 0.04348389 0.15695751] [-0.01485347 -0.04254803 0.998984 -0.25997165] [ 0. 0. 0. 1. ]] SLAMing on 14.64719347 meters Centerline goodness : 0.873554 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99754239 -0.0691413 0.0113428 0.97831627] [ 0.06859475 0.99671617 0.04303068 0.15954322] [-0.01428074 -0.04214687 0.99900936 -0.26223634] [ 0. 0. 0. 1. ]] SLAMing on 14.67719347 meters Centerline goodness : 0.869190 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99820881 -0.05978281 0.00227947 0.97591997] [ 0.05965293 0.99749237 0.03808541 0.16485463] [-0.00455061 -0.03788122 0.99927189 -0.25790412] [ 0. 0. 0. 1. ]] SLAMing on 14.70719347 meters Centerline goodness : 0.868887 Centerline is valid? [False, False] Translation: X:0.97, Y:0.17, Z:-0.26 [[ 0.99878455 -0.04907706 0.00456841 0.97463585] [ 0.04891759 0.99834714 0.03016719 0.17378732] [-0.00604138 -0.02990705 0.99953443 -0.25791747] [ 0. 0. 0. 1. ]] SLAMing on 14.73719347 meters Centerline goodness : 0.870016 Centerline is valid? [False, False] Translation: X:0.98, Y:0.18, Z:-0.26 [[ 0.99897484 -0.04507528 0.00418309 0.97513592] [ 0.04491345 0.998447 0.03296013 0.17793388] [-0.00566228 -0.03273847 0.99944791 -0.2580409 ] [ 0. 0. 0. 1. ]] SLAMing on 14.76719347 meters Centerline goodness : 0.869672 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.26 [[ 0.99939195 -0.0336811 0.00901748 0.96758142] [ 0.03342342 0.99906713 0.02734499 0.18817872] [-0.00993007 -0.02702697 0.99958538 -0.2571977 ] [ 0. 0. 0. 1. ]] SLAMing on 14.79719347 meters Centerline goodness : 0.871717 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.25 [[ 0.99959612 -0.02653251 0.01017956 0.96432526] [ 0.02622309 0.99922331 0.0294129 0.19862002] [-0.01095206 -0.02913408 0.99951551 -0.25157737] [ 0. 0. 0. 1. ]] SLAMing on 14.827193470000001 meters Centerline goodness : 0.868182 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.25 [[ 0.99959592 -0.026502 0.01027831 0.96381962] [ 0.02620452 0.9992624 0.02807096 0.20438498] [-0.01101466 -0.02779028 0.99955309 -0.2509513 ] [ 0. 0. 0. 1. ]] SLAMing on 14.85719347 meters Centerline goodness : 0.867833 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.25 [[ 0.9997089 -0.02244247 0.00885752 0.96142364] [ 0.02228505 0.99959869 0.01748792 0.21201768] [-0.00924643 -0.01728543 0.99980784 -0.25426958] [ 0. 0. 0. 1. ]] SLAMing on 14.88719347 meters Centerline goodness : 0.866121 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 0.99980495 -0.01848044 0.00696646 0.95940359] [ 0.01842843 0.99980237 0.00745752 0.21646225] [-0.00710291 -0.00732768 0.99994793 -0.25847281] [ 0. 0. 0. 1. ]] SLAMing on 14.91719347 meters Centerline goodness : 0.863936 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 0.99982074 -0.01780071 0.00645122 0.96133173] [ 0.01774954 0.99981122 0.00790393 0.21705838] [-0.0065907 -0.00778801 0.99994795 -0.25975671] [ 0. 0. 0. 1. ]] SLAMing on 14.94719347 meters Centerline goodness : 0.862503 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 0.99982041 -0.01791335 0.00618488 0.96152347] [ 0.01786192 0.99980624 0.00827268 0.21515253] [-0.00633187 -0.00816072 0.99994665 -0.25935583] [ 0. 0. 0. 1. ]] SLAMing on 14.97719347 meters Centerline goodness : 0.865241 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.25 [[ 0.99973576 -0.02196717 0.00677104 0.95712882] [ 0.02192991 0.99974422 0.00553003 0.21208046] [-0.00689079 -0.00538008 0.99996179 -0.25463165] [ 0. 0. 0. 1. ]] SLAMing on 15.00719347 meters Centerline goodness : 0.865059 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.25 [[ 0.99967766 -0.02421868 0.0076181 0.95340974] [ 0.02418088 0.99969502 0.00501524 0.21006511] [-0.00773724 -0.00482941 0.99995841 -0.25105505] [ 0. 0. 0. 1. ]] SLAMing on 15.03719347 meters Centerline goodness : 0.862979 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.25 [[ 0.99968479 -0.0239881 0.00740823 0.9544312 ] [ 0.02394366 0.99969512 0.00603135 0.20709767] [-0.00755065 -0.00585207 0.99995437 -0.25202378] [ 0. 0. 0. 1. ]] SLAMing on 15.06719347 meters Centerline goodness : 0.859847 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.9996472 -0.02571733 0.00664061 0.95908945] [ 0.0256866 0.99965912 0.00467282 0.20221047] [-0.00675852 -0.0045006 0.99996703 -0.25609281] [ 0. 0. 0. 1. ]] SLAMing on 15.09719347 meters Centerline goodness : 0.860153 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99967217 -0.02480788 0.00633378 0.96107851] [ 0.02476992 0.99967515 0.00600371 0.19995745] [-0.00648067 -0.00584485 0.99996192 -0.25805827] [ 0. 0. 0. 1. ]] SLAMing on 15.12719347 meters Centerline goodness : 0.858372 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99970448 -0.0236429 0.00565404 0.96431066] [ 0.02359916 0.99969199 0.00768205 0.19787373] [-0.00583392 -0.00754634 0.99995451 -0.26094917] [ 0. 0. 0. 1. ]] SLAMing on 15.15719347 meters Centerline goodness : 0.860837 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.26 [[ 0.9997318 -0.0225658 0.00520647 0.96647909] [ 0.02251963 0.99970801 0.00876177 0.19756703] [-0.00540266 -0.00864218 0.99994806 -0.26266169] [ 0. 0. 0. 1. ]] SLAMing on 15.18719347 meters Centerline goodness : 0.860388 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.26 [[ 0.99973622 -0.02240177 0.00506425 0.96634126] [ 0.02235687 0.9997117 0.008757 0.19808916] [-0.00525896 -0.00864147 0.99994883 -0.26191037] [ 0. 0. 0. 1. ]] SLAMing on 15.21719347 meters Centerline goodness : 0.863203 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99978992 -0.01975582 0.00546111 0.96349873] [ 0.01969127 0.99973844 0.01163174 0.19830697] [-0.00568947 -0.01152176 0.99991744 -0.25882516] [ 0. 0. 0. 1. ]] SLAMing on 15.247193470000001 meters Centerline goodness : 0.861254 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 0.99979962 -0.01934932 0.00513125 0.96472869] [ 0.01928679 0.99974236 0.01196806 0.19837189] [-0.00536151 -0.0118667 0.99991521 -0.25962094] [ 0. 0. 0. 1. ]] SLAMing on 15.27719347 meters Centerline goodness : 0.860328 Centerline is valid? [False, False] Translation: X:0.97, Y:0.20, Z:-0.26 [[ 0.99982622 -0.01810417 0.00444711 0.9678386 ] [ 0.0180438 0.99974928 0.01325914 0.19676931] [-0.00468604 -0.01317659 0.9999022 -0.26203198] [ 0. 0. 0. 1. ]] SLAMing on 15.30719347 meters Centerline goodness : 0.859393 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.26 [[ 0.99984931 -0.01691121 0.00392077 0.97008067] [ 0.0168515 0.99974858 0.01479229 0.19393832] [-0.00416994 -0.01472399 0.9998829 -0.26371196] [ 0. 0. 0. 1. ]] SLAMing on 15.33719347 meters Centerline goodness : 0.859866 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.26 [[ 0.99986256 -0.01619574 0.00354337 0.97134663] [ 0.01613851 0.99974768 0.01562439 0.1926223 ] [-0.00379553 -0.01556505 0.99987165 -0.2644411 ] [ 0. 0. 0. 1. ]] SLAMing on 15.36719347 meters Centerline goodness : 0.857585 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.27 [[ 0.99989377 -0.01428732 0.0028862 0.97407721] [ 0.01423387 0.99974094 0.01776108 0.18986207] [-0.00313921 -0.01771811 0.99983809 -0.26631103] [ 0. 0. 0. 1. ]] SLAMing on 15.39719347 meters Centerline goodness : 0.857646 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:-0.27 [[ 0.99991147 -0.01308866 0.00239381 0.97488906] [ 0.01304108 0.99973606 0.01891411 0.18867969] [-0.00264073 -0.01888121 0.99981825 -0.26586436] [ 0. 0. 0. 1. ]] SLAMing on 15.42719347 meters Centerline goodness : 0.858217 Centerline is valid? [False, False] Translation: X:0.98, Y:0.19, Z:-0.27 [[ 0.99991899 -0.01254047 0.00218054 0.9751719 ] [ 0.01249558 0.99973167 0.01950518 0.1870705 ] [-0.00242456 -0.01947635 0.99980738 -0.26555891] [ 0. 0. 0. 1. ]] SLAMing on 15.45719347 meters Centerline goodness : 0.857546 Centerline is valid? [False, False] Translation: X:0.98, Y:0.18, Z:-0.27 [[ 0.99992284 -0.0123816 0.00100187 0.97932144] [ 0.01236018 0.99974073 0.0191232 0.17996531] [-0.00123839 -0.01910934 0.99981663 -0.26700875] [ 0. 0. 0. 1. ]] SLAMing on 15.48719347 meters Centerline goodness : 0.861068 Centerline is valid? [False, False] Translation: X:0.98, Y:0.17, Z:-0.27 [[ 9.99900231e-01 -1.40981797e-02 8.77691362e-04 9.79522689e-01] [ 1.40798003e-02 9.99733981e-01 1.82681719e-02 1.72670397e-01] [-1.13500585e-03 -1.82539916e-02 9.99832738e-01 -2.66417767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51719347 meters Centerline goodness : 0.861368 Centerline is valid? [False, False] Translation: X:0.98, Y:0.17, Z:-0.26 [[ 0.99985366 -0.01705695 0.0013133 0.97665351] [ 0.01703209 0.99970942 0.01705805 0.16558163] [-0.00160388 -0.01703319 0.99985364 -0.26308643] [ 0. 0. 0. 1. ]] SLAMing on 15.54719347 meters Centerline goodness : 0.862217 Centerline is valid? [False, False] Translation: X:0.98, Y:0.16, Z:-0.26 [[ 0.99980025 -0.01994976 0.00120921 0.9769225 ] [ 0.01992986 0.99969344 0.01469126 0.16180873] [-0.00150193 -0.01466422 0.99989135 -0.26267421] [ 0. 0. 0. 1. ]] SLAMing on 15.577193470000001 meters Centerline goodness : 0.862815 Centerline is valid? [False, False] Translation: X:0.98, Y:0.15, Z:-0.26 [[ 9.99772376e-01 -2.13239490e-02 6.96012940e-04 9.79157327e-01] [ 2.13120650e-02 9.99674037e-01 1.40576122e-02 1.51661189e-01] [-9.95549871e-04 -1.40395789e-02 9.99900945e-01 -2.63445035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60719347 meters Centerline goodness : 0.861143 Centerline is valid? [False, False] Translation: X:0.99, Y:0.14, Z:-0.27 [[ 0.999818 -0.01892435 -0.00241578 0.98916194] [ 0.01895666 0.99972034 0.01413826 0.14302178] [ 0.00214755 -0.01418149 0.99989713 -0.26584183] [ 0. 0. 0. 1. ]] SLAMing on 15.63719347 meters Centerline goodness : 0.861542 Centerline is valid? [False, False] Translation: X:0.99, Y:0.14, Z:-0.27 [[ 0.99984262 -0.01749642 -0.00293303 0.99176432] [ 0.01754138 0.99971689 0.01607636 0.13928812] [ 0.00265092 -0.01612528 0.99986647 -0.26794674] [ 0. 0. 0. 1. ]] SLAMing on 15.66719347 meters Centerline goodness : 0.858348 Centerline is valid? [False, False] Translation: X:0.99, Y:0.14, Z:-0.27 [[ 0.99985387 -0.01680157 -0.00315478 0.9926845 ] [ 0.01685315 0.99971163 0.01710655 0.13680524] [ 0.00286645 -0.01715722 0.9998487 -0.26856547] [ 0. 0. 0. 1. ]] SLAMing on 15.69719347 meters Centerline goodness : 0.857902 Centerline is valid? [False, False] Translation: X:0.99, Y:0.13, Z:-0.27 [[ 0.99981781 -0.01867266 -0.00395876 0.99495979] [ 0.01873375 0.99969649 0.01599942 0.13153609] [ 0.00365881 -0.01607067 0.99986416 -0.26912619] [ 0. 0. 0. 1. ]] SLAMing on 15.72719347 meters Centerline goodness : 0.857054 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.27 [[ 0.9996858 -0.02468206 -0.004371 0.99578341] [ 0.02473279 0.99962256 0.01195904 0.11935322] [ 0.00407417 -0.01206339 0.99991893 -0.26837286] [ 0. 0. 0. 1. ]] SLAMing on 15.75719347 meters Centerline goodness : 0.856973 Centerline is valid? [False, False] Translation: X:1.00, Y:0.11, Z:-0.27 [[ 0.99954562 -0.02974284 -0.00489 0.99811187] [ 0.02978681 0.99951412 0.00917976 0.10699222] [ 0.00461459 -0.00932125 0.99994591 -0.26929537] [ 0. 0. 0. 1. ]] SLAMing on 15.78719347 meters Centerline goodness : 0.855304 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:-0.27 [[ 0.99957705 -0.02861211 -0.00520359 0.99949939] [ 0.02867138 0.99952047 0.01169529 0.10059966] [ 0.00486647 -0.01183953 0.99991807 -0.27025804] [ 0. 0. 0. 1. ]] SLAMing on 15.81719347 meters Centerline goodness : 0.854761 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:-0.27 [[ 0.99960965 -0.02738633 -0.00552664 1.00056854] [ 0.02746137 0.99952494 0.0139914 0.09468783] [ 0.00514084 -0.01413771 0.99988684 -0.27073558] [ 0. 0. 0. 1. ]] SLAMing on 15.84719347 meters Centerline goodness : 0.853525 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:-0.27 [[ 0.99971718 -0.02271068 -0.00705649 1.00447942] [ 0.02283931 0.99956394 0.01871603 0.08226977] [ 0.00662836 -0.0188719 0.99979994 -0.27085402] [ 0. 0. 0. 1. ]] SLAMing on 15.87719347 meters Centerline goodness : 0.851915 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:-0.27 [[ 0.99976967 -0.01873474 -0.01046973 1.0152376 ] [ 0.01893461 0.99963387 0.01932878 0.06748982] [ 0.01010378 -0.01952257 0.99975836 -0.27156184] [ 0. 0. 0. 1. ]] SLAMing on 15.90719347 meters Centerline goodness : 0.853619 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:-0.27 [[ 0.99969747 -0.02159225 -0.01177892 1.01745261] [ 0.02179112 0.99961758 0.01702491 0.05213111] [ 0.01140681 -0.01727644 0.99978568 -0.26960268] [ 0. 0. 0. 1. ]] SLAMing on 15.93719347 meters Centerline goodness : 0.850109 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:-0.27 [[ 0.99964588 -0.02386023 -0.01178181 1.01744708] [ 0.02405159 0.99957657 0.01637677 0.04435296] [ 0.01138607 -0.01665435 0.99979647 -0.26902552] [ 0. 0. 0. 1. ]] SLAMing on 15.96719347 meters Centerline goodness : 0.851284 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:-0.27 [[ 0.99960156 -0.02715674 -0.00769647 1.03320881] [ 0.02732317 0.99937533 0.02241396 0.0257887 ] [ 0.00708297 -0.02261532 0.99971915 -0.27119203] [ 0. 0. 0. 1. ]] SLAMing on 15.997193470000001 meters Centerline goodness : 0.850240 Centerline is valid? [False, False] Translation: X:1.05, Y:0.01, Z:-0.28 [[ 0.99949717 -0.03124811 -0.0053815 1.05276949] [ 0.03138558 0.99912341 0.02770111 0.00535479] [ 0.00451118 -0.02785608 0.99960176 -0.27569428] [ 0. 0. 0. 1. ]] SLAMing on 16.02719347 meters Centerline goodness : 0.849609 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.00, Z:-0.28 [[ 0.99931893 -0.03647502 -0.00559032 1.05512961] [ 0.03659805 0.99904747 0.02376395 -0.00161171] [ 0.0047182 -0.02395236 0.99970197 -0.27701622] [ 0. 0. 0. 1. ]] SLAMing on 16.05719347 meters Centerline goodness : 0.847598 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.02, Z:-0.28 [[ 0.99927281 -0.03738995 -0.00747244 1.06106215] [ 0.03757841 0.99893127 0.02691044 -0.01650956] [ 0.00645827 -0.02717167 0.99960992 -0.27853724] [ 0. 0. 0. 1. ]] SLAMing on 16.08719347 meters Centerline goodness : 0.844948 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.02, Z:-0.28 [[ 0.99930723 -0.03639343 -0.00778301 1.06261245] [ 0.03660643 0.9989018 0.02924322 -0.02194928] [ 0.0067102 -0.02950787 0.99954202 -0.27928326] [ 0. 0. 0. 1. ]] SLAMing on 16.11719347 meters Centerline goodness : 0.845337 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:-0.28 [[ 0.99945955 -0.03080699 -0.01146912 1.07047179] [ 0.03117371 0.99895904 0.03330213 -0.03152806] [ 0.01043124 -0.03364167 0.99937952 -0.278335 ] [ 0. 0. 0. 1. ]] SLAMing on 16.14719347 meters Centerline goodness : 0.845486 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.28 [[ 0.99963309 -0.02646247 -0.00578133 1.06924047] [ 0.02659477 0.99935455 0.02414948 -0.03734964] [ 0.00513854 -0.02429437 0.99969164 -0.27524895] [ 0. 0. 0. 1. ]] SLAMing on 16.17719347 meters Centerline goodness : 0.845486 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.28 [[ 0.99963309 -0.02646247 -0.00578133 1.06924047] [ 0.02659477 0.99935455 0.02414948 -0.03734964] [ 0.00513854 -0.02429437 0.99969164 -0.27524895] [ 0. 0. 0. 1. ]] SLAMing on 16.20719347 meters Centerline goodness : 0.845090 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.27 [[ 0.99960251 -0.02761683 -0.0056687 1.06781663] [ 0.02774877 0.99930991 0.02469211 -0.04304875] [ 0.00498287 -0.02483959 0.99967903 -0.2725883 ] [ 0. 0. 0. 1. ]] SLAMing on 16.23719347 meters Centerline goodness : 0.846371 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.27 [[ 0.99940601 -0.03435649 -0.00269387 1.07571702] [ 0.03436971 0.99939656 0.00502445 -0.0551639 ] [ 0.00251962 -0.00511406 0.99998375 -0.26735479] [ 0. 0. 0. 1. ]] SLAMing on 16.26719347 meters Centerline goodness : 0.846024 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.07, Z:-0.27 [[ 0.99898013 -0.0449461 -0.00430606 1.09020446] [ 0.04501738 0.99882034 0.01820336 -0.07167973] [ 0.00348281 -0.01837864 0.99982503 -0.26686955] [ 0. 0. 0. 1. ]] SLAMing on 16.29719347 meters Centerline goodness : 0.842031 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.08, Z:-0.27 [[ 0.99860047 -0.05262751 -0.00523962 1.09504282] [ 0.05269529 0.99851569 0.01377064 -0.08438589] [ 0.00450713 -0.01402747 0.99989145 -0.27015141] [ 0. 0. 0. 1. ]] SLAMing on 16.32719347 meters Centerline goodness : 0.841397 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.09, Z:-0.27 [[ 0.99843836 -0.05562545 -0.00516182 1.09611815] [ 0.05568525 0.99837296 0.01227154 -0.0919774 ] [ 0.00447082 -0.01253982 0.99991138 -0.27101932] [ 0. 0. 0. 1. ]] SLAMing on 16.35719347 meters Centerline goodness : 0.842173 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.27 [[ 0.99817394 -0.06015316 -0.00551277 1.10021019] [ 0.06020146 0.99814513 0.00906036 -0.10450771] [ 0.00495753 -0.00937569 0.99994376 -0.2736048 ] [ 0. 0. 0. 1. ]] SLAMing on 16.38719347 meters Centerline goodness : 0.843404 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.27 [[ 0.99822278 -0.05933877 -0.00549386 1.10016736] [ 0.05939852 0.9981688 0.01143974 -0.11153863] [ 0.00480498 -0.01174573 0.99991947 -0.2731505 ] [ 0. 0. 0. 1. ]] SLAMing on 16.41719347 meters Centerline goodness : 0.840875 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.27 [[ 0.99824755 -0.05889419 -0.00577086 1.10053036] [ 0.05896263 0.99818182 0.01250888 -0.11434833] [ 0.00502366 -0.01282723 0.99990511 -0.27275643] [ 0. 0. 0. 1. ]] SLAMing on 16.44719347 meters Centerline goodness : 0.842862 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.12, Z:-0.27 [[ 0.99810737 -0.06118054 -0.00621469 1.10288131] [ 0.06124548 0.99806365 0.01086007 -0.11944167] [ 0.00553823 -0.01122014 0.99992172 -0.27402714] [ 0. 0. 0. 1. ]] SLAMing on 16.47719347 meters Centerline goodness : 0.841142 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.28 [[ 0.99794467 -0.06372406 -0.00675908 1.10584306] [ 0.06378091 0.99792722 0.00855875 -0.12147135] [ 0.00619968 -0.00897226 0.99994053 -0.27593355] [ 0. 0. 0. 1. ]] SLAMing on 16.50719347 meters Centerline goodness : 0.841950 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.28 [[ 0.99753731 -0.0698218 -0.00665127 1.10849241] [ 0.06984645 0.99755144 0.00354814 -0.12449899] [ 0.00638724 -0.00400397 0.99997159 -0.27839395] [ 0. 0. 0. 1. ]] SLAMing on 16.537193470000002 meters Centerline goodness : 0.841138 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.28 [[ 9.97093019e-01 -7.58952115e-02 -6.74006738e-03 1.11088270e+00] [ 7.58873050e-02 9.97115388e-01 -1.42153359e-03 -1.24416298e-01] [ 6.82851249e-03 9.05915672e-04 9.99976275e-01 -2.80274617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56719347 meters Centerline goodness : 0.843136 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.12, Z:-0.28 [[ 0.99687748 -0.07892247 -0.00255432 1.12732564] [ 0.07890987 0.99687065 -0.00470552 -0.12004279] [ 0.0029177 0.00448926 0.99998567 -0.27971629] [ 0. 0. 0. 1. ]] SLAMing on 16.59719347 meters Centerline goodness : 0.844911 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.12, Z:-0.28 [[ 0.99696942 -0.07770631 0.003703 1.13590042] [ 0.07775 0.9968794 -0.01365247 -0.11602614] [-0.00263057 0.01389901 0.99989994 -0.28165917] [ 0. 0. 0. 1. ]] SLAMing on 16.62719347 meters Centerline goodness : 0.845519 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.28 [[ 0.99755726 -0.0695776 0.00620201 1.15414564] [ 0.06971335 0.99724536 -0.02533243 -0.10765726] [-0.00442236 0.02570291 0.99965984 -0.28090298] [ 0. 0. 0. 1. ]] SLAMing on 16.65719347 meters Centerline goodness : 0.846735 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.28 [[ 0.99781693 -0.06577807 0.00588378 1.15475579] [ 0.06589682 0.99756147 -0.02299382 -0.10243939] [-0.00435694 0.02333134 0.99971829 -0.28165583] [ 0. 0. 0. 1. ]] SLAMing on 16.68719347 meters Centerline goodness : 0.845380 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.09, Z:-0.28 [[ 9.98548744e-01 -5.38400263e-02 1.28742305e-03 1.16169029e+00] [ 5.38552457e-02 9.98320435e-01 -2.13523260e-02 -8.57084663e-02] [-1.35650946e-04 2.13906728e-02 9.99771184e-01 -2.84456253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71719347 meters Centerline goodness : 0.844950 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.07, Z:-0.29 [[ 9.99216844e-01 -3.95669049e-02 3.97282218e-04 1.16413556e+00] [ 3.95688860e-02 9.99174397e-01 -9.21015347e-03 -7.43794371e-02] [-3.25369546e-05 9.21866050e-03 9.99957507e-01 -2.87244086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74719347 meters Centerline goodness : 0.844035 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.06, Z:-0.29 [[ 9.99566368e-01 -2.94461152e-02 -3.97994118e-05 1.16397346e+00] [ 2.94459719e-02 9.99564272e-01 -2.04973604e-03 -6.13384394e-02] [ 1.00138834e-04 2.04767528e-03 9.99997898e-01 -2.86883308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77719347 meters Centerline goodness : 0.843786 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.06, Z:-0.29 [[ 9.99668046e-01 -2.57570477e-02 -6.10142665e-04 1.16473634e+00] [ 2.57571731e-02 9.99668209e-01 1.98491638e-04 -5.59285407e-02] [ 6.04827666e-04 -2.14141299e-04 9.99999794e-01 -2.86969028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80719347 meters Centerline goodness : 0.847116 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.29 [[ 0.99979541 -0.01976118 -0.00431778 1.16327487] [ 0.01970886 0.99973563 -0.01184221 -0.04696163] [ 0.00455065 0.01175469 0.99992056 -0.28640145] [ 0. 0. 0. 1. ]] SLAMing on 16.83719347 meters Centerline goodness : 0.845070 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.04, Z:-0.29 [[ 0.99984417 -0.01695695 -0.00490843 1.16547245] [ 0.01691011 0.99981251 -0.00943324 -0.04444397] [ 0.00506747 0.00934877 0.99994346 -0.28817535] [ 0. 0. 0. 1. ]] SLAMing on 16.86719347 meters Centerline goodness : 0.845498 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.05, Z:-0.29 [[ 0.99989476 -0.01354825 -0.00518746 1.16605611] [ 0.01352092 0.99989472 -0.00526707 -0.04549723] [ 0.00525827 0.00519638 0.99997267 -0.2882237 ] [ 0. 0. 0. 1. ]] SLAMing on 16.89719347 meters Centerline goodness : 0.846630 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.05, Z:-0.29 [[ 0.99989495 -0.01354775 -0.00515307 1.16585245] [ 0.01352528 0.99989898 -0.00437047 -0.0477251 ] [ 0.00521176 0.00430032 0.99997717 -0.28788292] [ 0. 0. 0. 1. ]] SLAMing on 16.92719347 meters Centerline goodness : 0.850823 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.28 [[ 0.99981346 -0.0188521 -0.00420131 1.16222845] [ 0.01881514 0.9997854 -0.00866914 -0.05294795] [ 0.00436384 0.00858847 0.9999536 -0.28465113] [ 0. 0. 0. 1. ]] SLAMing on 16.95719347 meters Centerline goodness : 0.849333 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.06, Z:-0.28 [[ 9.99798663e-01 -2.00291852e-02 -1.21035440e-03 1.16926158e+00] [ 2.00317996e-02 9.99796949e-01 2.18789936e-03 -5.88991706e-02] [ 1.16628679e-03 -2.21170444e-03 9.99996874e-01 -2.83753197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98719347 meters Centerline goodness : 0.851623 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.07, Z:-0.28 [[ 9.99763797e-01 -2.17180531e-02 -8.22698347e-04 1.16775778e+00] [ 2.17192737e-02 9.99762976e-01 1.50501168e-03 -6.56357950e-02] [ 7.89817424e-04 -1.52252460e-03 9.99998529e-01 -2.82231173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01719347 meters Centerline goodness : 0.852258 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.07, Z:-0.28 [[ 9.99778599e-01 -2.10245306e-02 -8.49641501e-04 1.16768124e+00] [ 2.10269457e-02 9.99774583e-01 2.94125522e-03 -6.96207302e-02] [ 7.87611467e-04 -2.95846939e-03 9.99995314e-01 -2.81953670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04719347 meters Centerline goodness : 0.853633 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.08, Z:-0.28 [[ 9.99817265e-01 -1.91067892e-02 -6.05317410e-04 1.16706627e+00] [ 1.91103369e-02 9.99796062e-01 6.52917457e-03 -7.98016139e-02] [ 4.80442401e-04 -6.53954928e-03 9.99978502e-01 -2.81497567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07719347 meters Centerline goodness : 0.852302 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.28 [[ 9.99824317e-01 -1.87029927e-02 -1.23793336e-03 1.17031600e+00] [ 1.87126440e-02 9.99790389e-01 8.30751353e-03 -8.77629351e-02] [ 1.08229851e-03 -8.32921905e-03 9.99964726e-01 -2.83827188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10719347 meters Centerline goodness : 0.848732 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.29 [[ 0.99978068 -0.0208995 -0.00133919 1.1723273 ] [ 0.02090939 0.9997505 0.00785669 -0.09711345] [ 0.00117466 -0.00788297 0.99996824 -0.28575438] [ 0. 0. 0. 1. ]] SLAMing on 17.13719347 meters Centerline goodness : 0.849102 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:-0.29 [[ 0.99973896 -0.0227661 -0.00192849 1.17523214] [ 0.02277839 0.9997187 0.0066086 -0.10203833] [ 0.0017775 -0.0066508 0.9999763 -0.28779052] [ 0. 0. 0. 1. ]] SLAMing on 17.16719347 meters Centerline goodness : 0.847011 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.11, Z:-0.29 [[ 0.9996461 -0.02647462 -0.00260074 1.17968875] [ 0.0264847 0.99964153 0.00392178 -0.11235702] [ 0.00249598 -0.00398927 0.99998893 -0.29122045] [ 0. 0. 0. 1. ]] SLAMing on 17.19719347 meters Centerline goodness : 0.849789 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.12, Z:-0.29 [[ 9.99478800e-01 -3.21569472e-02 -2.83879302e-03 1.18117357e+00] [ 3.21574726e-02 9.99482805e-01 1.39620646e-04 -1.23675743e-01] [ 2.83283504e-03 -2.30836285e-04 9.99995961e-01 -2.91676201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22719347 meters Centerline goodness : 0.848940 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.13, Z:-0.29 [[ 0.99937796 -0.03514754 -0.00288723 1.18163021] [ 0.03514276 0.99938088 -0.00168836 -0.12926091] [ 0.00294478 0.00158585 0.99999441 -0.29166465] [ 0. 0. 0. 1. ]] SLAMing on 17.25719347 meters Centerline goodness : 0.850200 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.14, Z:-0.29 [[ 9.99238019e-01 -3.89750382e-02 -2.08030404e-03 1.18050444e+00] [ 3.89775197e-02 9.99239408e-01 1.16590789e-03 -1.42001675e-01] [ 2.03328048e-03 -1.24610458e-03 9.99997156e-01 -2.88482184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287193470000002 meters Centerline goodness : 0.850543 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.29 [[ 9.99091906e-01 -4.25409417e-02 -2.37302683e-03 1.18120644e+00] [ 4.25389615e-02 9.99094422e-01 -8.78777491e-04 -1.47831194e-01] [ 2.40826189e-03 7.77033382e-04 9.99996798e-01 -2.87961006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31719347 meters Centerline goodness : 0.852552 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:-0.29 [[ 0.99868625 -0.05120099 -0.0020583 1.18051895] [ 0.05118424 0.99866105 -0.00750151 -0.1605453 ] [ 0.00243963 0.00738631 0.99996974 -0.28624923] [ 0. 0. 0. 1. ]] SLAMing on 17.34719347 meters Centerline goodness : 0.856392 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.17, Z:-0.29 [[ 0.99857693 -0.05330523 -0.00163139 1.18000532] [ 0.05329098 0.99854859 -0.00779646 -0.17318104] [ 0.00204462 0.00769842 0.99996828 -0.285673 ] [ 0. 0. 0. 1. ]] SLAMing on 17.37719347 meters Centerline goodness : 0.857822 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.18, Z:-0.29 [[ 0.99854339 -0.05391574 -0.00204772 1.18200111] [ 0.0538985 0.99851671 -0.0077031 -0.17661272] [ 0.00246 0.00758151 0.99996823 -0.28695042] [ 0. 0. 0. 1. ]] SLAMing on 17.40719347 meters Centerline goodness : 0.854684 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.18, Z:-0.29 [[ 0.99860462 -0.05273051 -0.00288329 1.18646162] [ 0.05271491 0.99859583 -0.00524408 -0.1825585 ] [ 0.00315576 0.00508477 0.99998209 -0.29051149] [ 0. 0. 0. 1. ]] SLAMing on 17.43719347 meters Centerline goodness : 0.854425 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.30 [[ 0.99852319 -0.05418638 -0.00390805 1.19251788] [ 0.05416347 0.99851554 -0.00574711 -0.18868364] [ 0.00421366 0.00552695 0.99997585 -0.29522848] [ 0. 0. 0. 1. ]] SLAMing on 17.46719347 meters Centerline goodness : 0.853744 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.19, Z:-0.30 [[ 0.99845681 -0.05534244 -0.00460562 1.19574931] [ 0.05531348 0.99844982 -0.00619466 -0.19198084] [ 0.00494131 0.00593034 0.99997021 -0.29731507] [ 0. 0. 0. 1. ]] SLAMing on 17.49719347 meters Centerline goodness : 0.857493 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99809057 -0.06156855 -0.00495236 1.19914588] [ 0.06150886 0.99804124 -0.01141692 -0.19617732] [ 0.00564558 0.01109051 0.99992256 -0.29968518] [ 0. 0. 0. 1. ]] SLAMing on 17.52719347 meters Centerline goodness : 0.856014 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99775253 -0.06682374 -0.00494707 1.20026658] [ 0.06674089 0.9976522 -0.01535378 -0.19877296] [ 0.00596145 0.0149891 0.99986989 -0.30005657] [ 0. 0. 0. 1. ]] SLAMing on 17.55719347 meters Centerline goodness : 0.856904 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99764899 -0.0683143 -0.00544512 1.20257729] [ 0.06821732 0.99753642 -0.01635477 -0.19931214] [ 0.00654897 0.01594487 0.99985143 -0.30143949] [ 0. 0. 0. 1. ]] SLAMing on 17.58719347 meters Centerline goodness : 0.860527 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.20, Z:-0.30 [[ 0.99759378 -0.06910252 -0.00561195 1.20329976] [ 0.06900043 0.99747675 -0.01670539 -0.19966695] [ 0.00675217 0.01627797 0.99984471 -0.30174883] [ 0. 0. 0. 1. ]] SLAMing on 17.61719347 meters Centerline goodness : 0.859502 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:-0.30 [[ 9.97885841e-01 -6.49706463e-02 1.63219449e-03 1.21251799e+00] [ 6.49906829e-02 9.97658713e-01 -2.12909445e-02 -1.94497831e-01] [-2.45086626e-04 2.13520095e-02 9.99771990e-01 -3.04334838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64719347 meters Centerline goodness : 0.860992 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.19, Z:-0.30 [[ 0.99862114 -0.05225701 0.00500151 1.23109652] [ 0.05237324 0.99826423 -0.0269365 -0.18591343] [-0.0035852 0.0271613 0.99962463 -0.3030882 ] [ 0. 0. 0. 1. ]] SLAMing on 17.67719347 meters Centerline goodness : 0.858422 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.18, Z:-0.30 [[ 0.99904957 -0.04340075 0.00404007 1.25589083] [ 0.04350519 0.99857422 -0.03093246 -0.18059714] [-0.00269182 0.03107882 0.99951331 -0.30239805] [ 0. 0. 0. 1. ]] SLAMing on 17.70719347 meters Centerline goodness : 0.862108 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.17, Z:-0.30 [[ 0.9995892 -0.02854029 0.00262337 1.29342031] [ 0.02862585 0.99869251 -0.04235366 -0.1671656 ] [-0.00141116 0.04241136 0.99909924 -0.3046474 ] [ 0. 0. 0. 1. ]] SLAMing on 17.73719347 meters Centerline goodness : 0.862570 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:-0.30 [[ 0.99988158 -0.01306951 0.00812482 1.30648476] [ 0.01363992 0.99711693 -0.07464432 -0.14890322] [-0.00712583 0.0747463 0.99717712 -0.30456223] [ 0. 0. 0. 1. ]] SLAMing on 17.76719347 meters Centerline goodness : 0.864089 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.15, Z:-0.30 [[ 0.99994816 -0.0062291 0.0080551 1.30492295] [ 0.00676393 0.99765088 -0.06816868 -0.14679807] [-0.00761154 0.06821963 0.99764129 -0.30245069] [ 0. 0. 0. 1. ]] SLAMing on 17.79719347 meters Centerline goodness : 0.863980 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.15, Z:-0.30 [[ 0.99995827 0.00302881 0.00861915 1.30194347] [-0.00251215 0.99823493 -0.05933562 -0.14614803] [-0.00878366 0.0593115 0.99820088 -0.29929021] [ 0. 0. 0. 1. ]] SLAMing on 17.82719347 meters Centerline goodness : 0.863437 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.15, Z:-0.30 [[ 0.99995651 0.00259393 0.00895877 1.2809818 ] [-0.00221987 0.99913548 -0.0415135 -0.14953075] [-0.00905871 0.04149181 0.99909778 -0.29744177] [ 0. 0. 0. 1. ]] SLAMing on 17.85719347 meters Centerline goodness : 0.863323 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.15, Z:-0.30 [[ 0.9999698 0.00528324 0.00569973 1.27535815] [-0.00513057 0.9996363 -0.0264752 -0.1534533 ] [-0.00583753 0.02644516 0.99963322 -0.29886289] [ 0. 0. 0. 1. ]] SLAMing on 17.88719347 meters Centerline goodness : 0.861641 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.30 [[ 0.99996236 0.00689999 0.00525937 1.27833809] [-0.00677333 0.99969542 -0.02373167 -0.15886941] [-0.00542152 0.02369515 0.99970453 -0.3017248 ] [ 0. 0. 0. 1. ]] SLAMing on 17.91719347 meters Centerline goodness : 0.861478 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.16, Z:-0.30 [[ 0.99995911 0.00740594 0.00519001 1.27848029] [-0.00728846 0.99972475 -0.02230011 -0.16355101] [-0.00535374 0.02226137 0.99973785 -0.30175337] [ 0. 0. 0. 1. ]] SLAMing on 17.94719347 meters Centerline goodness : 0.862987 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.30 [[ 9.99982864e-01 5.83700506e-03 4.47901525e-04 1.26981825e+00] [-5.83136872e-03 9.99914616e-01 -1.16942535e-02 -1.74950719e-01] [-5.16122699e-04 1.16914412e-02 9.99931520e-01 -2.99683258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97719347 meters Centerline goodness : 0.862091 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.30 [[ 9.99980488e-01 6.23480706e-03 3.87663646e-04 1.27007738e+00] [-6.23054816e-03 9.99928998e-01 -1.01577335e-02 -1.79824420e-01] [-4.50967630e-04 1.01551200e-02 9.99948334e-01 -2.99766267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00719347 meters Centerline goodness : 0.864727 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.19, Z:-0.30 [[ 9.99995821e-01 2.77582014e-03 -8.07972192e-04 1.27421558e+00] [-2.78341222e-03 9.99950504e-01 -9.55210323e-03 -1.91737854e-01] [ 7.81417279e-04 9.55431223e-03 9.99954051e-01 -3.03037748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03719347 meters Centerline goodness : 0.863036 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.20, Z:-0.30 [[ 9.99995251e-01 2.94781265e-03 -8.99023545e-04 1.27455100e+00] [-2.95506131e-03 9.99962251e-01 -8.17098260e-03 -1.96170258e-01] [ 8.74903081e-04 8.17360047e-03 9.99966213e-01 -3.03159783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06719347 meters Centerline goodness : 0.863036 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.20, Z:-0.30 [[ 9.99995251e-01 2.94781265e-03 -8.99023545e-04 1.27455100e+00] [-2.95506131e-03 9.99962251e-01 -8.17098260e-03 -1.96170258e-01] [ 8.74903081e-04 8.17360047e-03 9.99966213e-01 -3.03159783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09719347 meters Centerline goodness : 0.861519 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.20, Z:-0.30 [[ 0.99999613 -0.00228017 -0.00159585 1.27684057] [ 0.00226038 0.99992184 -0.01229614 -0.20452375] [ 0.00162377 0.01229248 0.99992313 -0.30436551] [ 0. 0. 0. 1. ]] SLAMing on 18.12719347 meters Centerline goodness : 0.860935 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.21, Z:-0.30 [[ 0.99998325 -0.00549074 -0.00183019 1.27780797] [ 0.00546346 0.99987865 -0.01458868 -0.21005606] [ 0.00191007 0.01457844 0.9998919 -0.30494582] [ 0. 0. 0. 1. ]] SLAMing on 18.15719347 meters Centerline goodness : 0.863609 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.22, Z:-0.31 [[ 0.99985482 -0.01694329 -0.00180705 1.27853775] [ 0.01691563 0.99975383 -0.01435788 -0.22308382] [ 0.00204987 0.01432523 0.99989529 -0.31130244] [ 0. 0. 0. 1. ]] SLAMing on 18.18719347 meters Centerline goodness : 0.863741 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.23, Z:-0.31 [[ 0.99976835 -0.02143928 0.00190013 1.29011145] [ 0.02145459 0.99973416 -0.0084446 -0.22755781] [-0.00171857 0.00848341 0.99996254 -0.31448728] [ 0. 0. 0. 1. ]] SLAMing on 18.21719347 meters Centerline goodness : 0.861574 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.23, Z:-0.31 [[ 0.99967345 -0.02549345 0.00175477 1.29082088] [ 0.02551195 0.99960858 -0.01148203 -0.23098893] [-0.00146137 0.01152305 0.99993254 -0.31474071] [ 0. 0. 0. 1. ]] SLAMing on 18.24719347 meters Centerline goodness : 0.862490 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.31 [[ 0.99945123 -0.0330599 0.00206856 1.28952572] [ 0.03309084 0.99930208 -0.01733086 -0.23748393] [-0.00149416 0.0173898 0.99984767 -0.31282091] [ 0. 0. 0. 1. ]] SLAMing on 18.27719347 meters Centerline goodness : 0.864373 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.31 [[ 9.99316539e-01 -3.69123039e-02 1.98386134e-03 1.29016410e+00] [ 3.69449378e-02 9.99112368e-01 -2.02372901e-02 -2.41880017e-01] [-1.23509539e-03 2.02967523e-02 9.99793237e-01 -3.12965244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30719347 meters Centerline goodness : 0.861753 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.31 [[ 9.99315317e-01 -3.69579102e-02 1.73512000e-03 1.29120714e+00] [ 3.69850412e-02 9.99119871e-01 -1.97886495e-02 -2.43805899e-01] [-1.00224574e-03 1.98392740e-02 9.99802680e-01 -3.13707890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33719347 meters Centerline goodness : 0.862507 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.32 [[ 9.99256457e-01 -3.85377888e-02 1.17147698e-03 1.29450077e+00] [ 3.85538599e-02 9.99038118e-01 -2.08911323e-02 -2.44379640e-01] [-3.65252109e-04 2.09207638e-02 9.99781070e-01 -3.16446823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36719347 meters Centerline goodness : 0.860651 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.24, Z:-0.32 [[ 9.99163929e-01 -4.08710509e-02 9.99773604e-04 1.29661122e+00] [ 4.08831983e-02 9.98911218e-01 -2.24709508e-02 -2.44371052e-01] [-8.02736938e-05 2.24930375e-02 9.99746996e-01 -3.18285701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39719347 meters Centerline goodness : 0.862383 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.24, Z:-0.32 [[ 9.99139801e-01 -4.14571021e-02 9.83691870e-04 1.29657672e+00] [ 4.14687482e-02 9.98882922e-01 -2.26550533e-02 -2.44557436e-01] [-4.33801545e-05 2.26763579e-02 9.99742857e-01 -3.18040420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42719347 meters Centerline goodness : 0.862229 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.24, Z:-0.32 [[ 0.99908457 -0.04234755 0.00605805 1.31126351] [ 0.04248569 0.99878783 -0.02485638 -0.24070995] [-0.0049981 0.025091 0.99967268 -0.31649061] [ 0. 0. 0. 1. ]] SLAMing on 18.45719347 meters Centerline goodness : 0.859303 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.23, Z:-0.31 [[ 0.9991246 -0.04128335 0.00676174 1.30765588] [ 0.04143852 0.99883592 -0.02469128 -0.2345425 ] [-0.00573453 0.02494987 0.99967226 -0.31300875] [ 0. 0. 0. 1. ]] SLAMing on 18.48719347 meters Centerline goodness : 0.858993 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.23, Z:-0.31 [[ 0.99918339 -0.03882557 0.01118628 1.32252601] [ 0.03910734 0.998892 -0.02617988 -0.23023209] [-0.01015744 0.02659597 0.99959466 -0.31224087] [ 0. 0. 0. 1. ]] SLAMing on 18.51719347 meters Centerline goodness : 0.860822 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.22, Z:-0.31 [[ 0.99939551 -0.03151125 0.01468546 1.33856185] [ 0.03188839 0.99914807 -0.02619657 -0.21778805] [-0.01384746 0.02664903 0.99954894 -0.31464532] [ 0. 0. 0. 1. ]] SLAMing on 18.54719347 meters Centerline goodness : 0.858081 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.20, Z:-0.32 [[ 0.99963212 -0.0228501 0.0146118 1.35851355] [ 0.02325642 0.99932974 -0.02827023 -0.20003087] [-0.01395603 0.02859965 0.99949352 -0.31990397] [ 0. 0. 0. 1. ]] SLAMing on 18.57719347 meters Centerline goodness : 0.858365 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.32 [[ 0.99973636 -0.00926722 0.02100786 1.39611729] [ 0.01012965 0.99909441 -0.04132489 -0.17805569] [-0.02060587 0.0415268 0.99892488 -0.32269945] [ 0. 0. 0. 1. ]] SLAMing on 18.60719347 meters Centerline goodness : 0.856497 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.17, Z:-0.32 [[ 0.99968532 -0.00362977 0.02482111 1.41156338] [ 0.00468732 0.99907771 -0.04268213 -0.16656748] [-0.02464329 0.04278504 0.99878033 -0.32349244] [ 0. 0. 0. 1. ]] SLAMing on 18.63719347 meters Centerline goodness : 0.853480 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.32 [[ 0.99960482 0.00892246 0.02665698 1.40838756] [-0.00697957 0.99737236 -0.07210869 -0.14145413] [-0.02723032 0.07189414 0.99704049 -0.31741387] [ 0. 0. 0. 1. ]] SLAMing on 18.66719347 meters Centerline goodness : 0.853035 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.32 [[ 0.99955079 0.01467641 0.02613076 1.410138 ] [-0.01288834 0.99764763 -0.06732828 -0.13617374] [-0.02705743 0.06696125 0.99738863 -0.31781092] [ 0. 0. 0. 1. ]] SLAMing on 18.69719347 meters Centerline goodness : 0.854330 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.13, Z:-0.32 [[ 0.99949047 0.01823587 0.02619639 1.41033033] [-0.0164938 0.99773307 -0.06524319 -0.13074145] [-0.02732677 0.06477787 0.99752548 -0.31791294] [ 0. 0. 0. 1. ]] SLAMing on 18.72719347 meters Centerline goodness : 0.849975 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.12, Z:-0.32 [[ 0.99933836 0.02511743 0.0263052 1.41232868] [-0.02351708 0.99795277 -0.05947443 -0.12405001] [-0.02774519 0.05881646 0.99788317 -0.31978927] [ 0. 0. 0. 1. ]] SLAMing on 18.75719347 meters Centerline goodness : 0.849153 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.12, Z:-0.33 [[ 0.99929177 0.02474138 0.0283519 1.4080729 ] [-0.02328409 0.99844624 -0.05062566 -0.12336787] [-0.0295604 0.04992966 0.99831519 -0.32582525] [ 0. 0. 0. 1. ]] SLAMing on 18.78719347 meters Centerline goodness : 0.848530 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.12, Z:-0.33 [[ 0.99934309 0.02319786 0.02784322 1.40427136] [-0.02205374 0.99892727 -0.04071794 -0.12415045] [-0.02875792 0.04007714 0.99878266 -0.33144765] [ 0. 0. 0. 1. ]] SLAMing on 18.81719347 meters Centerline goodness : 0.848456 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.12, Z:-0.33 [[ 0.99934888 0.02308984 0.02772509 1.40627485] [-0.02195885 0.99894119 -0.0404266 -0.12409475] [-0.02862918 0.03979147 0.99879778 -0.3338682 ] [ 0. 0. 0. 1. ]] SLAMing on 18.84719347 meters Centerline goodness : 0.847457 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.34 [[ 0.99924621 0.02419675 0.03035677 1.40239588] [-0.02309291 0.9990777 -0.03620024 -0.12643448] [-0.0312047 0.03547193 0.99888338 -0.33512079] [ 0. 0. 0. 1. ]] SLAMing on 18.87719347 meters Centerline goodness : 0.849467 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:-0.33 [[ 0.99921351 0.0250916 0.03070477 1.4002636 ] [-0.02404472 0.99913248 -0.03400197 -0.13304903] [-0.0315313 0.03323694 0.99894999 -0.33294393] [ 0. 0. 0. 1. ]] SLAMing on 18.90719347 meters Centerline goodness : 0.851998 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.33 [[ 0.99918883 0.02587758 0.03085498 1.39920528] [-0.02487539 0.99916428 -0.03243375 -0.13703139] [-0.0316685 0.03163991 0.99899751 -0.33186266] [ 0. 0. 0. 1. ]] SLAMing on 18.93719347 meters Centerline goodness : 0.854060 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.33 [[ 0.99916813 0.02647779 0.03101566 1.39848335] [-0.02550982 0.99918758 -0.0311998 -0.14004476] [-0.03181657 0.03038264 0.99903183 -0.33132923] [ 0. 0. 0. 1. ]] SLAMing on 18.96719347 meters Centerline goodness : 0.854916 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.33 [[ 0.99905396 0.02979711 0.03167505 1.39723112] [-0.02896623 0.99923238 -0.0263745 -0.14425837] [-0.03243662 0.02543204 0.99915018 -0.33110183] [ 0. 0. 0. 1. ]] SLAMing on 18.99719347 meters Centerline goodness : 0.859480 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.33 [[ 0.99889823 0.03398676 0.03236102 1.39659723] [-0.03335314 0.99924505 -0.01992222 -0.15068416] [-0.03301368 0.01882093 0.99927767 -0.33184222] [ 0. 0. 0. 1. ]] SLAMing on 19.02719347 meters Centerline goodness : 0.860121 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.15, Z:-0.33 [[ 0.99888732 0.03448366 0.03217137 1.39753346] [-0.03390166 0.99925459 -0.01846436 -0.15432496] [-0.03278411 0.01735316 0.9993118 -0.33292508] [ 0. 0. 0. 1. ]] SLAMing on 19.05719347 meters Centerline goodness : 0.859665 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.33 [[ 0.9992364 0.03032766 0.02463422 1.39161546] [-0.03002966 0.99947236 -0.01237797 -0.16510746] [-0.02499661 0.01162876 0.9996199 -0.33140899] [ 0. 0. 0. 1. ]] SLAMing on 19.08719347 meters Centerline goodness : 0.861277 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.33 [[ 0.99932508 0.02755221 0.02429518 1.3932355 ] [-0.02721961 0.99953261 -0.01391619 -0.16994244] [-0.02466724 0.01324549 0.99960797 -0.33353383] [ 0. 0. 0. 1. ]] SLAMing on 19.11719347 meters Centerline goodness : 0.862499 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.34 [[ 0.99948694 0.02139425 0.02383581 1.39547182] [-0.02098322 0.99962905 -0.01736298 -0.17879104] [-0.02419844 0.01685392 0.9995651 -0.33711142] [ 0. 0. 0. 1. ]] SLAMing on 19.14719347 meters Centerline goodness : 0.864368 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.18, Z:-0.34 [[ 0.99955721 0.01814767 0.02358064 1.39648362] [-0.0176863 0.99965088 -0.01962923 -0.18207737] [-0.02392863 0.01920348 0.99952921 -0.33855048] [ 0. 0. 0. 1. ]] SLAMing on 19.17719347 meters Centerline goodness : 0.862921 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.19, Z:-0.34 [[ 0.99955847 0.01802071 0.02362474 1.39654977] [-0.01758808 0.9996761 -0.01839417 -0.1866498 ] [-0.02394857 0.01797053 0.99955166 -0.33865906] [ 0. 0. 0. 1. ]] SLAMing on 19.20719347 meters Centerline goodness : 0.866372 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.19, Z:-0.34 [[ 0.99959381 0.01623369 0.02342395 1.39745569] [-0.01578892 0.99969386 -0.01904958 -0.19357262] [-0.02372603 0.01867201 0.99954411 -0.33945079] [ 0. 0. 0. 1. ]] SLAMing on 19.23719347 meters Centerline goodness : 0.867595 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.34 [[ 0.99960928 0.01574829 0.02309304 1.39933997] [-0.01530495 0.99969754 -0.01925073 -0.19691173] [-0.02338922 0.01888977 0.99954796 -0.34099721] [ 0. 0. 0. 1. ]] SLAMing on 19.26719347 meters Centerline goodness : 0.870827 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.34 [[ 0.99959663 0.01670429 0.02296849 1.39976816] [-0.01629171 0.99970463 -0.01803412 -0.2000587 ] [-0.02326295 0.01765265 0.99957352 -0.34124883] [ 0. 0. 0. 1. ]] SLAMing on 19.29719347 meters Centerline goodness : 0.869052 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.20, Z:-0.34 [[ 0.99946157 0.0197923 0.0261694 1.39053142] [-0.01919416 0.99955318 -0.02291335 -0.20208008] [-0.02661121 0.02239872 0.99939489 -0.34411135] [ 0. 0. 0. 1. ]] SLAMing on 19.32719347 meters Centerline goodness : 0.868893 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.21, Z:-0.34 [[ 0.9993075 0.02596269 0.02665438 1.3897138 ] [-0.02553802 0.99954337 -0.0161513 -0.20800648] [-0.02706154 0.01545941 0.99951422 -0.34400436] [ 0. 0. 0. 1. ]] SLAMing on 19.35719347 meters Centerline goodness : 0.871955 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.21, Z:-0.34 [[ 0.999154 0.03198889 0.02584566 1.39114536] [-0.03176087 0.99945329 -0.00918519 -0.21371899] [-0.02612535 0.00835654 0.99962375 -0.34399363] [ 0. 0. 0. 1. ]] SLAMing on 19.38719347 meters Centerline goodness : 0.871355 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.22, Z:-0.34 [[ 0.99913029 0.03304024 0.02543615 1.39156588] [-0.03286563 0.99943347 -0.00725254 -0.21734595] [-0.02566137 0.00641025 0.99965014 -0.34382044] [ 0. 0. 0. 1. ]] SLAMing on 19.41719347 meters Centerline goodness : 0.873356 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.22, Z:-0.34 [[ 0.9992377 0.03040072 0.02449105 1.39281244] [-0.03015646 0.99949231 -0.01028156 -0.22016246] [-0.02479119 0.00953516 0.99964718 -0.34338035] [ 0. 0. 0. 1. ]] SLAMing on 19.44719347 meters Centerline goodness : 0.872713 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.23, Z:-0.34 [[ 0.99923384 0.03059546 0.02440601 1.39228583] [-0.03041419 0.99950722 -0.0077644 -0.22761959] [-0.02463154 0.00701616 0.99967198 -0.3431059 ] [ 0. 0. 0. 1. ]] SLAMing on 19.47719347 meters Centerline goodness : 0.875339 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.24, Z:-0.34 [[ 0.9994129 0.02402049 0.02443098 1.39079843] [-0.02387072 0.99969454 -0.00640365 -0.2449158 ] [-0.02457733 0.00581671 0.99968101 -0.3399657 ] [ 0. 0. 0. 1. ]] SLAMing on 19.50719347 meters Centerline goodness : 0.874293 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.25, Z:-0.34 [[ 0.99947971 0.02100849 0.02447359 1.39007767] [-0.02082373 0.99975289 -0.00777966 -0.25300078] [-0.02463098 0.00726598 0.99967021 -0.33915304] [ 0. 0. 0. 1. ]] SLAMing on 19.53719347 meters Centerline goodness : 0.874205 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.27, Z:-0.34 [[ 0.99958552 0.01548161 0.02427143 1.39046467] [-0.01525586 0.99983888 -0.00945892 -0.26831284] [-0.02441396 0.00908472 0.99966066 -0.33850932] [ 0. 0. 0. 1. ]] SLAMing on 19.56719347 meters Centerline goodness : 0.876351 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.27, Z:-0.34 [[ 0.99962844 0.0133235 0.02377968 1.392343 ] [-0.01307512 0.99985865 -0.01056985 -0.27443755] [-0.02391715 0.010255 0.99966135 -0.33987563] [ 0. 0. 0. 1. ]] SLAMing on 19.59719347 meters Centerline goodness : 0.877085 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.34 [[ 0.99964478 0.01345291 0.02300709 1.39560433] [-0.01324306 0.99986953 -0.00924949 -0.28110562] [-0.02312852 0.00894152 0.99969251 -0.34225541] [ 0. 0. 0. 1. ]] SLAMing on 19.62719347 meters Centerline goodness : 0.881778 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.29, Z:-0.35 [[ 0.99964493 0.01440763 0.02241519 1.39868409] [-0.01424813 0.99987214 -0.00725902 -0.29325489] [-0.02251691 0.00693706 0.99972239 -0.34500416] [ 0. 0. 0. 1. ]] SLAMing on 19.65719347 meters Centerline goodness : 0.883288 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.30, Z:-0.35 [[ 0.99947151 0.01730476 0.02751815 1.41109683] [-0.0169196 0.99975647 -0.01416806 -0.29583884] [-0.02775662 0.01369498 0.99952089 -0.35032964] [ 0. 0. 0. 1. ]] SLAMing on 19.68719347 meters Centerline goodness : 0.881039 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.30, Z:-0.35 [[ 0.9994474 0.01846195 0.02764135 1.41063728] [-0.01812182 0.99975758 -0.01250545 -0.29983022] [-0.02786553 0.01199763 0.99953968 -0.34999428] [ 0. 0. 0. 1. ]] SLAMing on 19.71719347 meters Centerline goodness : 0.881971 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.31, Z:-0.35 [[ 0.99935882 0.02128769 0.02878844 1.40601294] [-0.0210082 0.99972953 -0.00997637 -0.31185504] [-0.02899303 0.00936518 0.99953574 -0.34782299] [ 0. 0. 0. 1. ]] SLAMing on 19.74719347 meters Centerline goodness : 0.885093 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.32, Z:-0.34 [[ 0.99943628 0.02383499 0.02364362 1.4137748 ] [-0.02352386 0.99963412 -0.01335098 -0.31946112] [-0.02395319 0.01278726 0.9996313 -0.34475122] [ 0. 0. 0. 1. ]] SLAMing on 19.77719347 meters Centerline goodness : 0.887166 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.33, Z:-0.34 [[ 0.99958356 0.02150822 0.01923825 1.40227485] [-0.02142037 0.99975922 -0.00476087 -0.32901686] [-0.01933601 0.00434679 0.99980359 -0.3416597 ] [ 0. 0. 0. 1. ]] SLAMing on 19.80719347 meters Centerline goodness : 0.888460 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.34, Z:-0.34 [[ 0.99963224 0.01924365 0.01910694 1.40315666] [-0.01913554 0.99979993 -0.00582479 -0.33586395] [-0.0192152 0.00545702 0.99980048 -0.34254237] [ 0. 0. 0. 1. ]] SLAMing on 19.83719347 meters Centerline goodness : 0.889096 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.35, Z:-0.34 [[ 9.99702855e-01 1.59799802e-02 1.84076728e-02 1.40549310e+00] [-1.59728043e-02 9.99872283e-01 -5.36800514e-04 -3.53465339e-01] [-1.84138999e-02 2.42618851e-04 9.99830420e-01 -3.40872507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86719347 meters Centerline goodness : 0.891420 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.36, Z:-0.34 [[ 0.999762 0.01236006 0.01797702 1.40709925] [-0.01231217 0.99992036 -0.0027722 -0.36141904] [-0.01800985 0.0025502 0.99983456 -0.34194654] [ 0. 0. 0. 1. ]] SLAMing on 19.89719347 meters Centerline goodness : 0.890672 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.37, Z:-0.34 [[ 0.99980502 0.00912634 0.0175109 1.40883429] [-0.00905182 0.99994966 -0.00433005 -0.37105326] [-0.01754954 0.0041707 0.9998373 -0.34300019] [ 0. 0. 0. 1. ]] SLAMing on 19.92719347 meters Centerline goodness : 0.895161 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.39, Z:-0.34 [[ 0.99984248 0.00472357 0.01710884 1.41063211] [-0.00463606 0.99997599 -0.00515066 -0.39009411] [-0.01713276 0.00507053 0.99984037 -0.34361679] [ 0. 0. 0. 1. ]] SLAMing on 19.95719347 meters Centerline goodness : 0.898292 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.40, Z:-0.35 [[ 0.99986255 0.00272886 0.01635339 1.41423049] [-0.00263242 0.99997904 -0.00591562 -0.39741412] [-0.01636919 0.00587175 0.99984877 -0.34639146] [ 0. 0. 0. 1. ]] SLAMing on 19.98719347 meters Centerline goodness : 0.898292 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.40, Z:-0.35 [[ 0.99986217 0.00270333 0.01638061 1.41420521] [-0.00260676 0.99997912 -0.00591379 -0.39741895] [-0.01639626 0.00587027 0.99984834 -0.34639616] [ 0. 0. 0. 1. ]] SLAMing on 20.01719347 meters Centerline goodness : 0.897471 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.40, Z:-0.35 [[ 0.99987797 0.00180856 0.01551676 1.41815999] [-0.00171975 0.99998208 -0.00573459 -0.40405186] [-0.01552686 0.00570721 0.99986316 -0.34935644] [ 0. 0. 0. 1. ]] SLAMing on 20.04719347 meters Centerline goodness : 0.897529 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.41, Z:-0.35 [[ 9.99891819e-01 6.72055658e-04 1.46935006e-02 1.42152518e+00] [-5.84728161e-04 9.99982147e-01 -5.94676231e-03 -4.10230051e-01] [-1.46972348e-02 5.93752728e-03 9.99874361e-01 -3.51813729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07719347 meters Centerline goodness : 0.899685 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.42, Z:-0.35 [[ 9.99889390e-01 5.50181730e-05 1.48729506e-02 1.42100289e+00] [ 8.91317478e-06 9.99990762e-01 -4.29839750e-03 -4.23960352e-01] [-1.48730497e-02 4.29805462e-03 9.99880152e-01 -3.50917166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10719347 meters Centerline goodness : 0.901735 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.43, Z:-0.35 [[ 0.99988694 -0.00273215 0.01478685 1.42104854] [ 0.00282449 0.99997662 -0.0062276 -0.42967381] [-0.01476949 0.00626866 0.99987127 -0.35064029] [ 0. 0. 0. 1. ]] SLAMing on 20.13719347 meters Centerline goodness : 0.903045 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.44, Z:-0.35 [[ 0.99987704 -0.00554815 0.01466709 1.42120343] [ 0.00566741 0.99995111 -0.00810238 -0.43553853] [-0.01462142 0.00818451 0.9998596 -0.35036171] [ 0. 0. 0. 1. ]] SLAMing on 20.16719347 meters Centerline goodness : 0.904664 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.45, Z:-0.35 [[ 0.99987259 -0.00833815 0.01361159 1.42398593] [ 0.00844561 0.99993348 -0.00785575 -0.44936175] [-0.01354518 0.00796971 0.9998765 -0.35014994] [ 0. 0. 0. 1. ]] SLAMing on 20.19719347 meters Centerline goodness : 0.909655 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.46, Z:-0.35 [[ 0.99984983 -0.01131365 0.01312671 1.42653742] [ 0.01144079 0.99988798 -0.00965094 -0.45567336] [-0.01301605 0.00979967 0.99986727 -0.35191982] [ 0. 0. 0. 1. ]] SLAMing on 20.22719347 meters Centerline goodness : 0.906302 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.46, Z:-0.35 [[ 0.99981838 -0.01400758 0.01292297 1.42833788] [ 0.01415093 0.9998386 -0.01106902 -0.46197398] [-0.01276584 0.01124988 0.99985523 -0.35324785] [ 0. 0. 0. 1. ]] SLAMing on 20.25719347 meters Centerline goodness : 0.905602 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.48, Z:-0.35 [[ 0.99976358 -0.01751463 0.01288523 1.44892969] [ 0.01766017 0.99978053 -0.01126945 -0.47782338] [-0.01268502 0.01149434 0.99985347 -0.35238909] [ 0. 0. 0. 1. ]] SLAMing on 20.28719347 meters Centerline goodness : 0.907046 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.48, Z:-0.35 [[ 0.99968748 -0.02167223 0.01246015 1.45068275] [ 0.02184291 0.99966714 -0.01372911 -0.48465345] [-0.01215846 0.01399699 0.99982811 -0.35289255] [ 0. 0. 0. 1. ]] SLAMing on 20.31719347 meters Centerline goodness : 0.902769 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.49, Z:-0.35 [[ 0.99959038 -0.02598557 0.01199219 1.45277638] [ 0.02618063 0.9995226 -0.01640579 -0.49094622] [-0.01156016 0.01671303 0.9997935 -0.35368517] [ 0. 0. 0. 1. ]] SLAMing on 20.34719347 meters Centerline goodness : 0.902463 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.50, Z:-0.36 [[ 0.99948123 -0.03014593 0.01133534 1.45594123] [ 0.03036108 0.99935239 -0.01931347 -0.49611498] [-0.01074578 0.0196476 0.99974922 -0.35570471] [ 0. 0. 0. 1. ]] SLAMing on 20.37719347 meters Centerline goodness : 0.895246 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.51, Z:-0.36 [[ 0.99934836 -0.03458713 0.01032409 1.45877697] [ 0.03479737 0.99917518 -0.02093106 -0.50621424] [-0.00959163 0.02127667 0.99972761 -0.35534928] [ 0. 0. 0. 1. ]] SLAMing on 20.40719347 meters Centerline goodness : 0.896756 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.51, Z:-0.35 [[ 0.99934457 -0.03483981 0.00982909 1.45974061] [ 0.03503285 0.99918193 -0.02020321 -0.51020884] [-0.00911717 0.02053431 0.99974758 -0.35478171] [ 0. 0. 0. 1. ]] SLAMing on 20.43719347 meters Centerline goodness : 0.899962 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99938901 -0.03254609 0.01274169 1.4760097 ] [ 0.03287788 0.9991011 -0.02675874 -0.51077331] [-0.01185935 0.02716131 0.99956071 -0.35889994] [ 0. 0. 0. 1. ]] SLAMing on 20.46719347 meters Centerline goodness : 0.895751 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99950946 -0.02884448 0.01219979 1.47701589] [ 0.0291116 0.99932702 -0.02231656 -0.51246414] [-0.01154787 0.02266077 0.99967652 -0.35874813] [ 0. 0. 0. 1. ]] SLAMing on 20.49719347 meters Centerline goodness : 0.894679 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99951619 -0.02870508 0.01197485 1.47736207] [ 0.02896847 0.99932852 -0.02243515 -0.51148314] [-0.01132281 0.02277118 0.99967658 -0.35868929] [ 0. 0. 0. 1. ]] SLAMing on 20.52719347 meters Centerline goodness : 0.900238 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99964054 -0.02408859 0.01177022 1.47617312] [ 0.02429479 0.9995481 -0.01770168 -0.51229399] [-0.01133849 0.01798128 0.99977403 -0.35654327] [ 0. 0. 0. 1. ]] SLAMing on 20.55719347 meters Centerline goodness : 0.903234 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.9996391 -0.02419967 0.0116638 1.47663642] [ 0.02441179 0.99953263 -0.01840085 -0.51020915] [-0.01121306 0.01867894 0.99976265 -0.35716552] [ 0. 0. 0. 1. ]] SLAMing on 20.58719347 meters Centerline goodness : 0.902979 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.9997014 -0.02202523 0.01058341 1.4801573 ] [ 0.02219322 0.99962522 -0.01602736 -0.50868988] [-0.01022644 0.01625745 0.99981554 -0.35909681] [ 0. 0. 0. 1. ]] SLAMing on 20.61719347 meters Centerline goodness : 0.906018 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.36 [[ 0.99976529 -0.01937063 0.00970234 1.48295953] [ 0.01949615 0.99972523 -0.01301391 -0.5071443 ] [-0.00944759 0.01320002 0.99986824 -0.36045733] [ 0. 0. 0. 1. ]] SLAMing on 20.64719347 meters Centerline goodness : 0.910356 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.99979541 -0.01855349 0.00805652 1.48754254] [ 0.01863908 0.99976922 -0.01068115 -0.50414574] [-0.00785649 0.01082913 0.9999105 -0.36085958] [ 0. 0. 0. 1. ]] SLAMing on 20.67719347 meters Centerline goodness : 0.914212 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.99978826 -0.01907024 0.00773002 1.48775643] [ 0.01915269 0.99975893 -0.01073583 -0.50397666] [-0.00752343 0.01088161 0.99991249 -0.35986427] [ 0. 0. 0. 1. ]] SLAMing on 20.70719347 meters Centerline goodness : 0.917697 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.99977466 -0.0199047 0.00737764 1.48827066] [ 0.01998565 0.99973903 -0.01106547 -0.50311203] [-0.00715546 0.01121043 0.99991156 -0.35912289] [ 0. 0. 0. 1. ]] SLAMing on 20.73719347 meters Centerline goodness : 0.920993 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.36 [[ 0.9997084 -0.02348305 0.00562625 1.49426757] [ 0.02355833 0.99962846 -0.01370933 -0.49728349] [-0.00530223 0.01383787 0.99989019 -0.36127873] [ 0. 0. 0. 1. ]] SLAMing on 20.76719347 meters Centerline goodness : 0.917069 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.36 [[ 0.9997463 -0.02205855 0.00455616 1.49866173] [ 0.0221105 0.99968725 -0.01168444 -0.49549677] [-0.00429699 0.01178222 0.99992135 -0.3639558 ] [ 0. 0. 0. 1. ]] SLAMing on 20.79719347 meters Centerline goodness : 0.914782 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.36 [[ 0.99980309 -0.01944882 0.00393966 1.50053618] [ 0.01948301 0.99977117 -0.00883334 -0.49386967] [-0.00376696 0.00890835 0.99995322 -0.36466941] [ 0. 0. 0. 1. ]] SLAMing on 20.82719347 meters Centerline goodness : 0.915184 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.36 [[ 0.99986058 -0.01637059 0.00328964 1.50179886] [ 0.01638977 0.99984831 -0.00589264 -0.4913576 ] [-0.00319268 0.00594574 0.99997723 -0.36458049] [ 0. 0. 0. 1. ]] SLAMing on 20.85719347 meters Centerline goodness : 0.916512 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.36 [[ 0.999911 -0.0130598 0.00272806 1.50264453] [ 0.01306872 0.99990923 -0.00327625 -0.48712819] [-0.00268502 0.00331161 0.99999091 -0.3643245 ] [ 0. 0. 0. 1. ]] SLAMing on 20.88719347 meters Centerline goodness : 0.916905 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.47, Z:-0.37 [[ 0.99996787 -0.0049908 0.00627336 1.51738724] [ 0.00504057 0.99995574 -0.00794406 -0.47020263] [-0.00623343 0.00797542 0.99994877 -0.36937793] [ 0. 0. 0. 1. ]] SLAMing on 20.91719347 meters Centerline goodness : 0.915114 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.46, Z:-0.37 [[ 9.99947082e-01 5.10560630e-04 1.02748267e-02 1.53243234e+00] [-3.81761412e-04 9.99921380e-01 -1.25334746e-02 -4.60272444e-01] [-1.02804180e-02 1.25288888e-02 9.99868661e-01 -3.72874403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94719347 meters Centerline goodness : 0.913672 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.45, Z:-0.37 [[ 0.99993399 0.00458182 0.0105367 1.53127171] [-0.00447481 0.9999384 -0.01015724 -0.4521618 ] [-0.01058259 0.01010942 0.9998929 -0.37164401] [ 0. 0. 0. 1. ]] SLAMing on 20.97719347 meters Centerline goodness : 0.917181 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.43, Z:-0.37 [[ 0.99978577 0.01534711 0.01388805 1.55444734] [-0.01502677 0.99962519 -0.02288376 -0.43390902] [-0.01423404 0.02267017 0.99964166 -0.3733287 ] [ 0. 0. 0. 1. ]] SLAMing on 21.00719347 meters Centerline goodness : 0.918788 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.43, Z:-0.37 [[ 0.99973684 0.01835211 0.01376393 1.5548516 ] [-0.01805887 0.99961352 -0.0211349 -0.42748937] [-0.01414648 0.02088078 0.99968188 -0.37317223] [ 0. 0. 0. 1. ]] SLAMing on 21.03719347 meters Centerline goodness : 0.917746 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.42, Z:-0.37 [[ 0.99968165 0.02132553 0.01348414 1.55599532] [-0.02106538 0.99959469 -0.01914957 -0.42140867] [-0.01388705 0.01885943 0.9997257 -0.37360801] [ 0. 0. 0. 1. ]] SLAMing on 21.06719347 meters Centerline goodness : 0.914775 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.41, Z:-0.38 [[ 0.99967986 0.02222223 0.01209732 1.56176242] [-0.02198592 0.99957142 -0.01932863 -0.4077512 ] [-0.01252166 0.01905647 0.99974 -0.37631935] [ 0. 0. 0. 1. ]] SLAMing on 21.09719347 meters Centerline goodness : 0.912785 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.40, Z:-0.38 [[ 0.99964843 0.02397134 0.01133057 1.56512469] [-0.02376769 0.9995594 -0.01777923 -0.40392401] [-0.01175177 0.01750368 0.99977773 -0.37842537] [ 0. 0. 0. 1. ]] SLAMing on 21.127193469999998 meters Centerline goodness : 0.911092 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.40, Z:-0.38 [[ 0.99960712 0.02588721 0.01074552 1.56790341] [-0.02571436 0.9995425 -0.01592388 -0.4007249 ] [-0.01115283 0.01564131 0.99981546 -0.38018274] [ 0. 0. 0. 1. ]] SLAMing on 21.15719347 meters Centerline goodness : 0.913154 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.39, Z:-0.38 [[ 0.99956738 0.02756534 0.01025727 1.56968619] [-0.02740997 0.99951185 -0.01499188 -0.39342081] [-0.01066552 0.01470424 0.999835 -0.38061573] [ 0. 0. 0. 1. ]] SLAMing on 21.18719347 meters Centerline goodness : 0.911873 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.39, Z:-0.38 [[ 0.99948646 0.03047571 0.00990185 1.57080926] [-0.03035404 0.99946457 -0.01221478 -0.39103644] [-0.0102688 0.01190794 0.99987637 -0.380635 ] [ 0. 0. 0. 1. ]] SLAMing on 21.21719347 meters Centerline goodness : 0.910375 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.39, Z:-0.38 [[ 0.99936924 0.03411666 0.00985814 1.5705567 ] [-0.0340178 0.99937092 -0.01002727 -0.38540291] [-0.01019404 0.00968559 0.99990113 -0.3794647 ] [ 0. 0. 0. 1. ]] SLAMing on 21.24719347 meters Centerline goodness : 0.912638 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99937072 0.03407553 0.00984992 1.5705975 ] [-0.03396581 0.99936135 -0.01110048 -0.38213706] [-0.01022188 0.01075894 0.99988987 -0.37933041] [ 0. 0. 0. 1. ]] SLAMing on 21.27719347 meters Centerline goodness : 0.912408 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99926003 0.03720101 0.00977163 1.57110781] [-0.0371254 0.9992801 -0.00780895 -0.3811945 ] [-0.01005509 0.00744039 0.99992176 -0.37900042] [ 0. 0. 0. 1. ]] SLAMing on 21.30719347 meters Centerline goodness : 0.918317 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99930654 0.03594323 0.00972248 1.57137332] [-0.03585128 0.99931224 -0.00947241 -0.376439 ] [-0.01005626 0.00911728 0.99990787 -0.37882161] [ 0. 0. 0. 1. ]] SLAMing on 21.33719347 meters Centerline goodness : 0.913555 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.38, Z:-0.38 [[ 0.99938553 0.03384231 0.00912435 1.57416162] [-0.03373992 0.99936844 -0.01115056 -0.37551851] [-0.00949595 0.01083585 0.9998962 -0.38087718] [ 0. 0. 0. 1. ]] SLAMing on 21.36719347 meters Centerline goodness : 0.912716 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:-0.38 [[ 0.99952089 0.02981816 0.00829904 1.5781971 ] [-0.02969369 0.99945041 -0.01473677 -0.37564343] [-0.0087339 0.01448328 0.99985697 -0.38408456] [ 0. 0. 0. 1. ]] SLAMing on 21.39719347 meters Centerline goodness : 0.912490 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:-0.39 [[ 0.99980044 0.01887573 0.00654151 1.57998741] [-0.01881271 0.99977727 -0.00956539 -0.37660969] [-0.0067206 0.00944042 0.99993285 -0.3865699 ] [ 0. 0. 0. 1. ]] SLAMing on 21.42719347 meters Centerline goodness : 0.912047 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.38, Z:-0.39 [[ 0.99999069 0.00303231 0.00306861 1.58293116] [-0.00300934 0.99996761 -0.00746452 -0.37855364] [-0.00309114 0.00745522 0.99996743 -0.38873102] [ 0. 0. 0. 1. ]] SLAMing on 21.45719347 meters Centerline goodness : 0.909284 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.38, Z:-0.39 [[ 9.99997452e-01 6.04806567e-05 2.25658148e-03 1.58699113e+00] [-3.82754191e-05 9.99951596e-01 -9.83895675e-03 -3.78593126e-01] [-2.25706732e-03 9.83884531e-03 9.99949050e-01 -3.91706760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48719347 meters Centerline goodness : 0.910359 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.38, Z:-0.39 [[ 9.99997719e-01 -1.53932115e-03 1.48065075e-03 1.59011423e+00] [ 1.55590054e-03 9.99935369e-01 -1.12621595e-02 -3.77572412e-01] [-1.46321898e-03 1.12644375e-02 9.99935484e-01 -3.93777600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51719347 meters Centerline goodness : 0.913204 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.38, Z:-0.40 [[ 9.99999555e-01 -5.04390845e-04 7.97742145e-04 1.59361832e+00] [ 5.12411435e-04 9.99949003e-01 -1.00860713e-02 -3.76464652e-01] [-7.92614141e-04 1.00864756e-02 9.99948816e-01 -3.96262901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54719347 meters Centerline goodness : 0.909218 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.37, Z:-0.40 [[ 0.99997943 0.00518472 0.00377678 1.61047681] [-0.00512719 0.99987304 -0.01508677 -0.36852421] [-0.00385452 0.0150671 0.99987906 -0.4018504 ] [ 0. 0. 0. 1. ]] SLAMing on 21.57719347 meters Centerline goodness : 0.907668 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.36, Z:-0.40 [[ 0.99995556 0.00878662 0.00341546 1.6115682 ] [-0.0087433 0.99988368 -0.01249702 -0.36441409] [-0.00352487 0.0124666 0.99991608 -0.40226918] [ 0. 0. 0. 1. ]] SLAMing on 21.60719347 meters Centerline goodness : 0.906532 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.36, Z:-0.41 [[ 0.99988974 0.01321317 0.00677686 1.62770319] [-0.01309446 0.99976509 -0.01727112 -0.35731205] [-0.00700348 0.01718048 0.99982788 -0.40549036] [ 0. 0. 0. 1. ]] SLAMing on 21.63719347 meters Centerline goodness : 0.905729 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.34, Z:-0.41 [[ 0.99961989 0.02518798 0.01120918 1.65754431] [-0.02492324 0.999421 -0.02316245 -0.34294064] [-0.01178611 0.02287428 0.99966887 -0.40867236] [ 0. 0. 0. 1. ]] SLAMing on 21.66719347 meters Centerline goodness : 0.907876 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.34, Z:-0.41 [[ 0.99945917 0.03000399 0.01345826 1.67666053] [-0.02964957 0.99922724 -0.02580371 -0.33509726] [-0.01422208 0.02539073 0.99957643 -0.41202585] [ 0. 0. 0. 1. ]] SLAMing on 21.69719347 meters Centerline goodness : 0.911098 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.33, Z:-0.41 [[ 0.99932255 0.03458438 0.01258459 1.68104993] [-0.03431023 0.99918242 -0.0213846 -0.33061347] [-0.01331387 0.02093834 0.99969212 -0.41458135] [ 0. 0. 0. 1. ]] SLAMing on 21.72719347 meters Centerline goodness : 0.900808 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.42 [[ 0.99927198 0.03568866 0.01348463 1.70251185] [-0.03529777 0.99897913 -0.02819169 -0.32167452] [-0.01447699 0.02769519 0.99951158 -0.41926906] [ 0. 0. 0. 1. ]] SLAMing on 21.75719347 meters Centerline goodness : 0.901731 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.42 [[ 0.999288 0.03528454 0.01336025 1.70274485] [-0.03488847 0.99897614 -0.0288005 -0.32005205] [-0.01436279 0.02831388 0.99949589 -0.41905982] [ 0. 0. 0. 1. ]] SLAMing on 21.78719347 meters Centerline goodness : 0.904690 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.42 [[ 0.99930399 0.03479952 0.01343628 1.70250982] [-0.03439647 0.99898319 -0.02914548 -0.31889074] [-0.01443687 0.02866304 0.99948487 -0.41839612] [ 0. 0. 0. 1. ]] SLAMing on 21.81719347 meters Centerline goodness : 0.904310 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99946888 0.03005717 0.01259038 1.7075742 ] [-0.02972834 0.99923173 -0.02553757 -0.31843606] [-0.01334829 0.02514972 0.99959458 -0.41233877] [ 0. 0. 0. 1. ]] SLAMing on 21.84719347 meters Centerline goodness : 0.907921 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99952367 0.02840822 0.01205833 1.70914742] [-0.02808351 0.99925971 -0.02629369 -0.31922167] [-0.01279636 0.02594252 0.99958153 -0.41282688] [ 0. 0. 0. 1. ]] SLAMing on 21.877193469999998 meters Centerline goodness : 0.907921 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99952367 0.02840822 0.01205833 1.70914742] [-0.02808351 0.99925971 -0.02629369 -0.31922167] [-0.01279636 0.02594252 0.99958153 -0.41282688] [ 0. 0. 0. 1. ]] SLAMing on 21.90719347 meters Centerline goodness : 0.904794 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.41 [[ 0.99973103 0.02036201 0.01110209 1.70606359] [-0.02017402 0.9996555 -0.01678972 -0.32103529] [-0.01144014 0.01656123 0.9997974 -0.41059424] [ 0. 0. 0. 1. ]] SLAMing on 21.93719347 meters Centerline goodness : 0.909361 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99987175 0.01198424 0.01062375 1.72102627] [-0.01186114 0.99986265 -0.01157589 -0.32280316] [-0.01076102 0.01144839 0.99987656 -0.40797953] [ 0. 0. 0. 1. ]] SLAMing on 21.96719347 meters Centerline goodness : 0.908431 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99987787 0.01165511 0.0104116 1.72176267] [-0.01152869 0.99986008 -0.01212078 -0.3217532 ] [-0.01055142 0.01199926 0.99987233 -0.40832108] [ 0. 0. 0. 1. ]] SLAMing on 21.99719347 meters Centerline goodness : 0.905721 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99987778 0.01174004 0.0103241 1.72234612] [-0.0116067 0.99984966 -0.01288211 -0.31916452] [-0.01047378 0.01276071 0.99986372 -0.40882393] [ 0. 0. 0. 1. ]] SLAMing on 22.02719347 meters Centerline goodness : 0.908646 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.41 [[ 0.99982769 0.01549268 0.01022602 1.72293872] [-0.0153953 0.99983604 -0.00953332 -0.31752421] [-0.01037204 0.00937425 0.99990227 -0.40910889] [ 0. 0. 0. 1. ]] SLAMing on 22.05719347 meters Centerline goodness : 0.909098 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.31, Z:-0.41 [[ 0.99951484 0.02769796 0.01424488 1.75309121] [-0.02750158 0.99952647 -0.01380212 -0.30862579] [-0.01462043 0.01340367 0.99980327 -0.41269066] [ 0. 0. 0. 1. ]] SLAMing on 22.08719347 meters Centerline goodness : 0.909663 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.30, Z:-0.41 [[ 0.99927351 0.03516418 0.0146944 1.77412766] [-0.03473471 0.99898939 -0.02852533 -0.30177664] [-0.01568262 0.0279942 0.99948506 -0.41428943] [ 0. 0. 0. 1. ]] SLAMing on 22.11719347 meters Centerline goodness : 0.908269 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.30, Z:-0.42 [[ 0.99911191 0.03865291 0.01677329 1.79269978] [-0.03810808 0.99877167 -0.03166913 -0.29804721] [-0.01797679 0.0310018 0.99935766 -0.41668999] [ 0. 0. 0. 1. ]] SLAMing on 22.14719347 meters Centerline goodness : 0.907143 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.42 [[ 0.99905887 0.03823016 0.02048961 1.80739271] [-0.0373189 0.99837136 -0.04314996 -0.29351628] [-0.02210587 0.0423447 0.99885848 -0.42167623] [ 0. 0. 0. 1. ]] SLAMing on 22.17719347 meters Centerline goodness : 0.904412 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.29, Z:-0.42 [[ 0.99902395 0.0373973 0.02350709 1.80434455] [-0.03640923 0.99848972 -0.04114183 -0.29366181] [-0.02501018 0.0402458 0.99887675 -0.42399029] [ 0. 0. 0. 1. ]] SLAMing on 22.20719347 meters Centerline goodness : 0.903266 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.42 [[ 0.99905607 0.03685857 0.02298736 1.80601182] [-0.03588468 0.99849681 -0.04142955 -0.29363226] [-0.02447984 0.04056555 0.99887696 -0.42491447] [ 0. 0. 0. 1. ]] SLAMing on 22.23719347 meters Centerline goodness : 0.896474 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.43 [[ 0.99906961 0.03714298 0.021916 1.81144147] [-0.03622593 0.99850822 -0.0408537 -0.29392443] [-0.02340073 0.04002176 0.99892475 -0.42952144] [ 0. 0. 0. 1. ]] SLAMing on 22.26719347 meters Centerline goodness : 0.894848 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:-0.43 [[ 0.99896402 0.04015043 0.02142047 1.81405467] [-0.03932924 0.99852347 -0.03747129 -0.29434402] [-0.02289333 0.03659002 0.9990681 -0.43143096] [ 0. 0. 0. 1. ]] SLAMing on 22.29719347 meters Centerline goodness : 0.897659 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.29, Z:-0.43 [[ 0.99885129 0.04319277 0.02074807 1.81683967] [-0.04246583 0.99850951 -0.03428441 -0.29420584] [-0.02219798 0.03336394 0.99919673 -0.43307645] [ 0. 0. 0. 1. ]] SLAMing on 22.32719347 meters Centerline goodness : 0.896004 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.29, Z:-0.43 [[ 0.99884359 0.04348493 0.02050692 1.81763107] [-0.04276192 0.99849056 -0.0344676 -0.29320267] [-0.02197479 0.03355082 0.9991954 -0.43344528] [ 0. 0. 0. 1. ]] SLAMing on 22.35719347 meters Centerline goodness : 0.899418 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.30, Z:-0.43 [[ 0.99881672 0.0447564 0.0190268 1.81781671] [-0.04406109 0.99839739 -0.03551428 -0.29715169] [-0.0205858 0.03463391 0.99918803 -0.42911834] [ 0. 0. 0. 1. ]] SLAMing on 22.38719347 meters Centerline goodness : 0.900380 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.30, Z:-0.43 [[ 0.99884531 0.04412603 0.01899866 1.81722407] [-0.04344175 0.99844138 -0.03503748 -0.29985157] [-0.02051511 0.03417169 0.9992054 -0.42859094] [ 0. 0. 0. 1. ]] SLAMing on 22.41719347 meters Centerline goodness : 0.898563 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.30, Z:-0.43 [[ 0.99891559 0.042778 0.01837622 1.81931743] [-0.04211122 0.99849066 -0.03525682 -0.30175997] [-0.0198567 0.03444474 0.99920932 -0.42980284] [ 0. 0. 0. 1. ]] SLAMing on 22.44719347 meters Centerline goodness : 0.899897 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.43 [[ 0.9991758 0.03435346 0.02162298 1.81894525] [-0.03377339 0.99907432 -0.02664311 -0.30833392] [-0.02251825 0.02589087 0.99941112 -0.42806525] [ 0. 0. 0. 1. ]] SLAMing on 22.47719347 meters Centerline goodness : 0.898947 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:-0.43 [[ 0.99928842 0.03108062 0.02136942 1.81903003] [-0.03045721 0.99911807 -0.02890412 -0.31228477] [-0.02224894 0.0282327 0.99935374 -0.42766993] [ 0. 0. 0. 1. ]] SLAMing on 22.50719347 meters Centerline goodness : 0.900450 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.43 [[ 0.999401 0.02734384 0.02121198 1.8191259 ] [-0.0266616 0.99913842 -0.03180524 -0.31607373] [-0.02206338 0.03122065 0.99926897 -0.42762679] [ 0. 0. 0. 1. ]] SLAMing on 22.53719347 meters Centerline goodness : 0.901778 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:-0.43 [[ 0.99953409 0.01964581 0.02335917 1.81686145] [-0.01915738 0.99959691 -0.02095259 -0.32237002] [-0.02376139 0.02049533 0.99950755 -0.42700161] [ 0. 0. 0. 1. ]] SLAMing on 22.56719347 meters Centerline goodness : 0.901899 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.33, Z:-0.43 [[ 0.9996852 0.00790102 0.02381335 1.81784388] [-0.00760884 0.99989497 -0.01233522 -0.3306303 ] [-0.02390831 0.01215014 0.99964032 -0.42763244] [ 0. 0. 0. 1. ]] SLAMing on 22.59719347 meters Centerline goodness : 0.901594 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.33, Z:-0.43 [[ 0.99971828 0.0046832 0.02326878 1.82066983] [-0.00433985 0.99988129 -0.0147844 -0.33328091] [-0.02333525 0.01467925 0.99961992 -0.42995487] [ 0. 0. 0. 1. ]] SLAMing on 22.627193469999998 meters Centerline goodness : 0.901255 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.34, Z:-0.43 [[ 9.99745536e-01 1.33573069e-03 2.25184222e-02 1.82466385e+00] [-9.43528223e-04 9.99847840e-01 -1.74185970e-02 -3.35296959e-01] [-2.25382623e-02 1.73929178e-02 9.99594674e-01 -4.33251000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65719347 meters Centerline goodness : 0.897842 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.34, Z:-0.43 [[ 0.99981397 -0.00755913 0.01774472 1.83819363] [ 0.00790228 0.99978157 -0.01934856 -0.33745473] [-0.01759459 0.01948518 0.99965532 -0.4348498 ] [ 0. 0. 0. 1. ]] SLAMing on 22.68719347 meters Centerline goodness : 0.900391 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.34, Z:-0.44 [[ 0.99981203 -0.00918217 0.01707611 1.84079443] [ 0.00952857 0.99974819 -0.02031645 -0.33848774] [-0.01688526 0.02047534 0.99964776 -0.43639606] [ 0. 0. 0. 1. ]] SLAMing on 22.71719347 meters Centerline goodness : 0.899274 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.44 [[ 0.99985485 -0.00893906 0.01450406 1.86172142] [ 0.00927929 0.9996793 -0.0235624 -0.33892145] [-0.01428878 0.02369357 0.99961715 -0.43710052] [ 0. 0. 0. 1. ]] SLAMing on 22.74719347 meters Centerline goodness : 0.898935 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.44 [[ 0.99987691 -0.00713356 0.01397422 1.86370591] [ 0.00744264 0.99972601 -0.02219243 -0.33444988] [-0.01381208 0.0222937 0.99965605 -0.43808307] [ 0. 0. 0. 1. ]] SLAMing on 22.77719347 meters Centerline goodness : 0.897872 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.44 [[ 0.99989734 -0.00408225 0.01373515 1.86424484] [ 0.00434827 0.99980246 -0.01939414 -0.33218144] [-0.01365327 0.01945187 0.99971757 -0.43793494] [ 0. 0. 0. 1. ]] SLAMing on 22.80719347 meters Centerline goodness : 0.899669 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:-0.44 [[ 9.99849761e-01 -9.40715177e-04 1.73080813e-02 1.88087158e+00] [ 1.33095623e-03 9.99744851e-01 -2.25490687e-02 -3.27046779e-01] [-1.72824529e-02 2.25687173e-02 9.99595903e-01 -4.39067540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83719347 meters Centerline goodness : 0.896719 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.31, Z:-0.44 [[ 0.99977395 0.00688959 0.02011448 1.89911862] [-0.00641195 0.9996982 -0.02371482 -0.31236052] [-0.02027179 0.02358048 0.99951639 -0.44289533] [ 0. 0. 0. 1. ]] SLAMing on 22.86719347 meters Centerline goodness : 0.895465 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.30, Z:-0.45 [[ 0.99967205 0.01270952 0.02223215 1.9187649 ] [-0.01215901 0.99962037 -0.02472394 -0.30481238] [-0.02253794 0.02444551 0.99944708 -0.44634586] [ 0. 0. 0. 1. ]] SLAMing on 22.89719347 meters Centerline goodness : 0.897975 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.30, Z:-0.45 [[ 0.99955537 0.01715846 0.02438557 1.93848104] [-0.01648282 0.99948197 -0.02764237 -0.29691808] [-0.02484724 0.02722814 0.99932039 -0.45035432] [ 0. 0. 0. 1. ]] SLAMing on 22.92719347 meters Centerline goodness : 0.896325 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.28, Z:-0.45 [[ 0.99952081 0.02056494 0.02313514 1.97325665] [-0.01979402 0.99925694 -0.03307225 -0.28299808] [-0.02379808 0.03259847 0.99918516 -0.45181719] [ 0. 0. 0. 1. ]] SLAMing on 22.95719347 meters Centerline goodness : 0.895253 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.28, Z:-0.45 [[ 0.99954622 0.01952202 0.02294019 1.97378511] [-0.01871522 0.99921649 -0.03487333 -0.27738493] [-0.02360301 0.03442818 0.99912842 -0.45167864] [ 0. 0. 0. 1. ]] SLAMing on 22.98719347 meters Centerline goodness : 0.896662 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.27, Z:-0.45 [[ 0.99964852 0.01316512 0.0230112 1.99062607] [-0.01256768 0.99958508 -0.02591752 -0.2734837 ] [-0.02334285 0.02561921 0.9993992 -0.44904566] [ 0. 0. 0. 1. ]] SLAMing on 23.01719347 meters Centerline goodness : 0.897811 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.27, Z:-0.44 [[ 9.99746058e-01 1.84331901e-03 2.24593127e-02 2.00521515e+00] [-1.32037525e-03 9.99728190e-01 -2.32766709e-02 -2.66243326e-01] [-2.24961144e-02 2.32411053e-02 9.99476751e-01 -4.44815858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04719347 meters Centerline goodness : 0.898163 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.26, Z:-0.45 [[ 9.99766504e-01 -9.15683527e-04 2.15893358e-02 2.00860522e+00] [ 1.47802367e-03 9.99659664e-01 -2.60455754e-02 -2.61784209e-01] [-2.15581387e-02 2.60714034e-02 9.99427600e-01 -4.46858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07719347 meters Centerline goodness : 0.899487 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.26, Z:-0.45 [[ 0.99977817 -0.00307585 0.02083621 2.01196841] [ 0.00367264 0.99958234 -0.02866452 -0.25626517] [-0.02073934 0.02873468 0.9993719 -0.44924584] [ 0. 0. 0. 1. ]] SLAMing on 23.10719347 meters Centerline goodness : 0.896629 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.25, Z:-0.45 [[ 0.9997913 -0.00373239 0.02008564 2.01619985] [ 0.00432402 0.99955564 -0.02949294 -0.2518226 ] [-0.01996663 0.02957363 0.99936316 -0.45264073] [ 0. 0. 0. 1. ]] SLAMing on 23.13719347 meters Centerline goodness : 0.898551 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.45 [[ 0.99979231 -0.00626956 0.01939135 2.0191983 ] [ 0.00691434 0.99941934 -0.03336434 -0.24265579] [-0.01917091 0.03349149 0.99925512 -0.45457863] [ 0. 0. 0. 1. ]] SLAMing on 23.16719347 meters Centerline goodness : 0.896579 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.46 [[ 0.99981261 -0.00439913 0.0188518 2.02112283] [ 0.00499567 0.99948449 -0.03171429 -0.23852243] [-0.01870257 0.03180253 0.99931917 -0.45546015] [ 0. 0. 0. 1. ]] SLAMing on 23.19719347 meters Centerline goodness : 0.896196 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.23, Z:-0.46 [[ 9.99828368e-01 -1.99834237e-03 1.84185201e-02 2.02264663e+00] [ 2.55222409e-03 9.99543703e-01 -3.00977225e-02 -2.32348391e-01] [-1.83499702e-02 3.01395649e-02 9.99377249e-01 -4.56083254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22719347 meters Centerline goodness : 0.893650 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.22, Z:-0.46 [[ 0.99983734 0.00330121 0.01773139 2.0247792 ] [-0.00284831 0.99967058 -0.02550739 -0.22475707] [-0.01780975 0.02545274 0.99951737 -0.45666695] [ 0. 0. 0. 1. ]] SLAMing on 23.25719347 meters Centerline goodness : 0.894159 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.20, Z:-0.46 [[ 0.99969324 0.0162042 0.01873087 2.06352589] [-0.0153902 0.9989645 -0.04281434 -0.19944435] [-0.01940524 0.04251293 0.99890745 -0.45858781] [ 0. 0. 0. 1. ]] SLAMing on 23.28719347 meters Centerline goodness : 0.891673 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.19, Z:-0.46 [[ 0.99956253 0.02268011 0.01898316 2.09982474] [-0.0217937 0.99871899 -0.04566638 -0.18948358] [-0.01999456 0.04523269 0.99877636 -0.45923076] [ 0. 0. 0. 1. ]] SLAMing on 23.31719347 meters Centerline goodness : 0.887313 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.17, Z:-0.46 [[ 0.99926534 0.03366195 0.01832083 2.10098579] [-0.03286011 0.99855867 -0.04243567 -0.17362469] [-0.01972289 0.04180247 0.99893121 -0.45658874] [ 0. 0. 0. 1. ]] SLAMing on 23.34719347 meters Centerline goodness : 0.889600 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.17, Z:-0.46 [[ 0.99901891 0.040385 0.0181733 2.10227159] [-0.03968688 0.99851716 -0.03726179 -0.16764021] [-0.01965116 0.03650399 0.99914028 -0.4562808 ] [ 0. 0. 0. 1. ]] SLAMing on 23.377193469999998 meters Centerline goodness : 0.888181 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.16, Z:-0.46 [[ 0.99876678 0.04636465 0.01775506 2.10486697] [-0.04576031 0.99840551 -0.03305189 -0.15919318] [-0.01925919 0.03219865 0.99929592 -0.45690681] [ 0. 0. 0. 1. ]] SLAMing on 23.40719347 meters Centerline goodness : 0.885306 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.14, Z:-0.46 [[ 0.99834363 0.05563599 0.01465058 2.11395248] [-0.05525816 0.99815803 -0.02504175 -0.14068318] [-0.01601681 0.0241907 0.99957905 -0.45691966] [ 0. 0. 0. 1. ]] SLAMing on 23.43719347 meters Centerline goodness : 0.886094 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.13, Z:-0.46 [[ 0.99809853 0.06005104 0.01389933 2.11753788] [-0.05974784 0.99798648 -0.02128825 -0.13458493] [-0.01514972 0.02041731 0.99967676 -0.45843617] [ 0. 0. 0. 1. ]] SLAMing on 23.46719347 meters Centerline goodness : 0.883643 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.13, Z:-0.46 [[ 0.9979442 0.0626567 0.01347263 2.11863488] [-0.06238902 0.99786242 -0.01944747 -0.12962858] [-0.01466235 0.01856695 0.9997201 -0.45800471] [ 0. 0. 0. 1. ]] SLAMing on 23.49719347 meters Centerline goodness : 0.883698 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.12, Z:-0.45 [[ 0.99792379 0.06287651 0.01395178 2.11561025] [-0.06257888 0.99782258 -0.02083244 -0.1206583 ] [-0.01523127 0.0199161 0.99968563 -0.45427874] [ 0. 0. 0. 1. ]] SLAMing on 23.52719347 meters Centerline goodness : 0.883644 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.45 [[ 0.99813987 0.0590801 0.01504436 2.13191921] [-0.05895372 0.99822272 -0.00871015 -0.11914933] [-0.01553221 0.00780703 0.99984889 -0.45326074] [ 0. 0. 0. 1. ]] SLAMing on 23.55719347 meters Centerline goodness : 0.885443 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.45 [[ 0.99820199 0.05810782 0.01470621 2.1326559 ] [-0.05796308 0.99826779 -0.01008456 -0.11564492] [-0.01526673 0.00921401 0.999841 -0.45310465] [ 0. 0. 0. 1. ]] SLAMing on 23.58719347 meters Centerline goodness : 0.885978 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.45 [[ 9.98649223e-01 4.99912619e-02 1.41634523e-02 2.14775162e+00] [-4.99698533e-02 9.98748992e-01 -1.86164069e-03 -1.09586809e-01] [-1.42387995e-02 1.15138040e-03 9.99897960e-01 -4.49912303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61719347 meters Centerline goodness : 0.885125 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.45 [[ 0.9988147 0.04595185 0.01605054 2.15418759] [-0.04604923 0.99892262 0.00575111 -0.10929477] [-0.01576897 -0.00648341 0.99985464 -0.44679623] [ 0. 0. 0. 1. ]] SLAMing on 23.64719347 meters Centerline goodness : 0.885461 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.45 [[ 0.99890312 0.0440337 0.01592443 2.15409942] [-0.0441064 0.99901783 0.00424332 -0.10831023] [-0.01572194 -0.00494104 0.99986419 -0.44632381] [ 0. 0. 0. 1. ]] SLAMing on 23.67719347 meters Centerline goodness : 0.885401 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.45 [[ 0.99915258 0.03781003 0.01626443 2.13827794] [-0.03805489 0.99916279 0.01501835 -0.10731339] [-0.01568297 -0.01562457 0.99975493 -0.4477885 ] [ 0. 0. 0. 1. ]] SLAMing on 23.70719347 meters Centerline goodness : 0.885104 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.45 [[ 0.99918708 0.03511094 0.01980935 2.13288316] [-0.03547357 0.99920375 0.01826181 -0.10560816] [-0.01915239 -0.01894967 0.99963698 -0.45222195] [ 0. 0. 0. 1. ]] SLAMing on 23.73719347 meters Centerline goodness : 0.886041 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.45 [[ 0.99940293 0.03309182 0.0099356 2.12720315] [-0.0332086 0.99937844 0.01182883 -0.09489903] [-0.00953799 -0.01215172 0.99988067 -0.44997076] [ 0. 0. 0. 1. ]] SLAMing on 23.76719347 meters Centerline goodness : 0.885573 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.45 [[ 0.99941855 0.03269757 0.00966615 2.12797379] [-0.03279594 0.99941002 0.01019968 -0.08950728] [-0.00932694 -0.01051076 0.99990126 -0.45012903] [ 0. 0. 0. 1. ]] SLAMing on 23.79719347 meters Centerline goodness : 0.885573 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.45 [[ 0.99941855 0.03269757 0.00966615 2.12797379] [-0.03279594 0.99941002 0.01019968 -0.08950728] [-0.00932694 -0.01051076 0.99990126 -0.45012903] [ 0. 0. 0. 1. ]] SLAMing on 23.82719347 meters Centerline goodness : 0.884746 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.45 [[ 0.9993253 0.03557529 0.0091293 2.13035875] [-0.03567617 0.99930135 0.01113618 -0.08091921] [-0.00872675 -0.01145436 0.99989632 -0.45141589] [ 0. 0. 0. 1. ]] SLAMing on 23.85719347 meters Centerline goodness : 0.885260 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.45 [[ 0.99933532 0.03535751 0.00887457 2.13131836] [-0.035441 0.99932725 0.00943312 -0.07577038] [-0.00853507 -0.00974137 0.99991613 -0.45180126] [ 0. 0. 0. 1. ]] SLAMing on 23.88719347 meters Centerline goodness : 0.887671 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.45 [[ 0.99935816 0.03475671 0.0086739 2.13170636] [-0.03482307 0.99936444 0.0076207 -0.07050972] [-0.00840351 -0.00791786 0.99993334 -0.45161679] [ 0. 0. 0. 1. ]] SLAMing on 23.91719347 meters Centerline goodness : 0.883380 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.45 [[ 0.99931687 0.03582922 0.00905873 2.12994925] [-0.03590504 0.99932032 0.00834984 -0.06708442] [-0.0087534 -0.00866939 0.99992411 -0.45004061] [ 0. 0. 0. 1. ]] SLAMing on 23.94719347 meters Centerline goodness : 0.886280 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.45 [[ 9.99553129e-01 2.87318854e-02 8.24753014e-03 2.13224023e+00] [-2.87390875e-02 9.99586661e-01 7.56032307e-04 -6.06582404e-02] [-8.22239889e-03 -9.92720948e-04 9.99965703e-01 -4.51346989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97719347 meters Centerline goodness : 0.884668 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.45 [[ 0.99968799 0.02369566 0.00790141 2.13300377] [-0.02366212 0.99971072 -0.00431079 -0.05837844] [-0.00800127 0.00412248 0.99995949 -0.45172063] [ 0. 0. 0. 1. ]] SLAMing on 24.00719347 meters Centerline goodness : 0.883818 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.45 [[ 0.99990115 0.0124363 0.00655926 2.12192415] [-0.01248847 0.99989022 0.00797391 -0.05621576] [-0.00645937 -0.00805503 0.9999467 -0.45120954] [ 0. 0. 0. 1. ]] SLAMing on 24.03719347 meters Centerline goodness : 0.883238 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.45 [[ 0.99995215 0.00729131 0.00652195 2.12189681] [-0.00730765 0.99997021 0.00248605 -0.05237568] [-0.00650363 -0.00253359 0.99997564 -0.4510082 ] [ 0. 0. 0. 1. ]] SLAMing on 24.06719347 meters Centerline goodness : 0.886142 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.45 [[ 9.99977962e-01 7.93900175e-04 6.59125096e-03 2.12205128e+00] [-7.64509293e-04 9.99989760e-01 -4.46039767e-03 -4.73443148e-02] [-6.59472457e-03 4.45526030e-03 9.99968330e-01 -4.51309701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09719347 meters Centerline goodness : 0.882244 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.45 [[ 9.99978596e-01 2.96415693e-04 6.53603394e-03 2.12223753e+00] [-2.60871499e-04 9.99985178e-01 -5.43837204e-03 -4.48108353e-02] [-6.53754909e-03 5.43655057e-03 9.99963852e-01 -4.51281558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127193469999998 meters Centerline goodness : 0.884587 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.45 [[ 0.99997268 0.00251341 0.00695157 2.12015736] [-0.00248676 0.99998954 -0.00383967 -0.0406408 ] [-0.00696115 0.00382228 0.99996847 -0.44936768] [ 0. 0. 0. 1. ]] SLAMing on 24.15719347 meters Centerline goodness : 0.888464 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.03, Z:-0.45 [[ 9.99912549e-01 1.08982980e-02 7.49137755e-03 2.11776103e+00] [-1.09131842e-02 9.99938550e-01 1.94910678e-03 -2.76235807e-02] [-7.46967526e-03 -2.03069111e-03 9.99970040e-01 -4.46325952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18719347 meters Centerline goodness : 0.887380 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.02, Z:-0.44 [[ 9.99855251e-01 1.69971008e-02 7.59086833e-04 2.10622419e+00] [-1.69969684e-02 9.99855525e-01 -1.80556283e-04 -1.76966166e-02] [-7.62046097e-04 1.67627973e-04 9.99999696e-01 -4.43105832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21719347 meters Centerline goodness : 0.887309 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.01, Z:-0.45 [[ 9.99712199e-01 2.39868633e-02 3.87385281e-04 2.10876862e+00] [-2.39886486e-02 9.99696748e-01 5.56396218e-03 -1.25449725e-02] [-2.53805805e-04 -5.57165372e-03 9.99984446e-01 -4.45077830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24719347 meters Centerline goodness : 0.887773 Centerline is valid? [False, False] Translation: X:2.12, Y:0.00, Z:-0.45 [[ 9.99262243e-01 3.77136302e-02 -7.25610012e-03 2.12478833e+00] [-3.76954543e-02 9.99285824e-01 2.62562364e-03 1.95603295e-03] [ 7.34993979e-03 -2.35016457e-03 9.99970227e-01 -4.45705794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27719347 meters Centerline goodness : 0.891715 Centerline is valid? [False, False] Translation: X:2.13, Y:0.01, Z:-0.45 [[ 0.99895759 0.04507058 -0.00723775 2.12530134] [-0.04500923 0.99895103 0.00842697 0.0082798 ] [ 0.00760997 -0.00809242 0.9999383 -0.4453049 ] [ 0. 0. 0. 1. ]] SLAMing on 24.30719347 meters Centerline goodness : 0.895361 Centerline is valid? [False, False] Translation: X:2.12, Y:0.02, Z:-0.44 [[ 0.99841792 0.05602529 -0.00477673 2.12130196] [-0.05596464 0.99836059 0.01200412 0.02398695] [ 0.00544144 -0.0117178 0.99991654 -0.43813757] [ 0. 0. 0. 1. ]] SLAMing on 24.33719347 meters Centerline goodness : 0.896433 Centerline is valid? [False, False] Translation: X:2.12, Y:0.03, Z:-0.44 [[ 0.99823285 0.0592381 -0.00469262 2.12054746] [-0.0591667 0.99814824 0.01412087 0.0292396 ] [ 0.00552042 -0.01381827 0.99988928 -0.43652796] [ 0. 0. 0. 1. ]] SLAMing on 24.36719347 meters Centerline goodness : 0.896035 Centerline is valid? [False, False] Translation: X:2.12, Y:0.03, Z:-0.44 [[ 0.99823701 0.05913979 -0.0050365 2.12122569] [-0.05907099 0.99817096 0.01285922 0.03370641] [ 0.00578778 -0.01253904 0.99990463 -0.43627458] [ 0. 0. 0. 1. ]] SLAMing on 24.39719347 meters Centerline goodness : 0.894640 Centerline is valid? [False, False] Translation: X:2.12, Y:0.04, Z:-0.44 [[ 0.99826367 0.05866484 -0.0052999 2.12166053] [-0.05859813 0.9982099 0.01196912 0.03590586] [ 0.00599258 -0.01163777 0.99991432 -0.43613751] [ 0. 0. 0. 1. ]] SLAMing on 24.42719347 meters Centerline goodness : 0.891916 Centerline is valid? [False, False] Translation: X:2.13, Y:0.04, Z:-0.44 [[ 9.98725642e-01 5.04499343e-02 1.37676497e-03 2.12934646e+00] [-5.04638880e-02 9.98635790e-01 1.34146914e-02 3.60850530e-02] [-6.98116470e-04 -1.34670732e-02 9.99909071e-01 -4.37926338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45719347 meters Centerline goodness : 0.893558 Centerline is valid? [False, False] Translation: X:2.14, Y:0.03, Z:-0.44 [[ 0.99899768 0.04414688 0.00739478 2.14045103] [-0.04426207 0.99888837 0.0162141 0.03461783] [-0.00667076 -0.01652515 0.9998412 -0.44189947] [ 0. 0. 0. 1. ]] SLAMing on 24.48719347 meters Centerline goodness : 0.896197 Centerline is valid? [False, False] Translation: X:2.14, Y:0.03, Z:-0.44 [[ 0.9991377 0.0409588 0.00679974 2.1425274 ] [-0.04104501 0.9990719 0.01306348 0.03441137] [-0.00625836 -0.01333131 0.99989155 -0.44327592] [ 0. 0. 0. 1. ]] SLAMing on 24.51719347 meters Centerline goodness : 0.893708 Centerline is valid? [False, False] Translation: X:2.15, Y:0.03, Z:-0.45 [[ 0.99918528 0.03994876 0.00573285 2.14679663] [-0.04001627 0.99912469 0.01218858 0.03363936] [-0.00524091 -0.01240806 0.99990928 -0.44651079] [ 0. 0. 0. 1. ]] SLAMing on 24.54719347 meters Centerline goodness : 0.894106 Centerline is valid? [False, False] Translation: X:2.15, Y:0.03, Z:-0.45 [[ 0.99916371 0.04054447 0.00529457 2.14837819] [-0.04060634 0.99910132 0.01215226 0.03497439] [-0.00479711 -0.01235709 0.99991214 -0.44740895] [ 0. 0. 0. 1. ]] SLAMing on 24.57719347 meters Centerline goodness : 0.894462 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99913671 0.04124556 0.00496354 2.14929134] [-0.04130229 0.99907549 0.01192864 0.03720977] [-0.00446695 -0.01212335 0.99991653 -0.44758666] [ 0. 0. 0. 1. ]] SLAMing on 24.60719347 meters Centerline goodness : 0.894688 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99910912 0.04195785 0.00452748 2.15056462] [-0.04200845 0.99904842 0.01172785 0.03926862] [-0.00403109 -0.01190759 0.99992098 -0.44798897] [ 0. 0. 0. 1. ]] SLAMing on 24.63719347 meters Centerline goodness : 0.890680 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99909031 0.04244179 0.00415182 2.15202506] [-0.04248771 0.99902873 0.01167874 0.04028588] [-0.00365212 -0.01184452 0.99992318 -0.44891427] [ 0. 0. 0. 1. ]] SLAMing on 24.66719347 meters Centerline goodness : 0.894377 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.45 [[ 0.99907686 0.04279555 0.00373874 2.15397822] [-0.04283696 0.99901231 0.01180643 0.04056909] [-0.00322978 -0.01195569 0.99992331 -0.45053321] [ 0. 0. 0. 1. ]] SLAMing on 24.69719347 meters Centerline goodness : 0.892802 Centerline is valid? [False, False] Translation: X:2.16, Y:0.04, Z:-0.45 [[ 9.99242800e-01 3.88490348e-02 2.14011373e-03 2.15952851e+00] [-3.88654095e-02 9.99210555e-01 8.23084398e-03 3.87188081e-02] [-1.81866388e-03 -8.30778798e-03 9.99963836e-01 -4.54629936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72719347 meters Centerline goodness : 0.890021 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.46 [[ 0.99937699 0.03502827 0.00431868 2.1776371 ] [-0.03507111 0.99933198 0.01027711 0.03471836] [-0.00395581 -0.01042217 0.99993786 -0.45628314] [ 0. 0. 0. 1. ]] SLAMing on 24.75719347 meters Centerline goodness : 0.891627 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.46 [[ 0.99952977 0.03039328 0.00406032 2.1775199 ] [-0.03041881 0.99951689 0.00637896 0.03343319] [-0.00386448 -0.00649948 0.99997141 -0.4555512 ] [ 0. 0. 0. 1. ]] SLAMing on 24.78719347 meters Centerline goodness : 0.892197 Centerline is valid? [False, False] Translation: X:2.19, Y:0.03, Z:-0.46 [[ 0.99970124 0.0231146 0.00794707 2.1875977 ] [-0.02320031 0.99967176 0.01086816 0.03044206] [-0.00769325 -0.01104928 0.99990936 -0.45773352] [ 0. 0. 0. 1. ]] SLAMing on 24.81719347 meters Centerline goodness : 0.885772 Centerline is valid? [False, False] Translation: X:2.19, Y:0.01, Z:-0.46 [[ 0.99998222 0.00420918 0.00422297 2.19234233] [-0.00447866 0.99781111 0.06597667 0.01227445] [-0.00393602 -0.06599441 0.99781223 -0.45790258] [ 0. 0. 0. 1. ]] SLAMing on 24.84719347 meters Centerline goodness : 0.888175 Centerline is valid? [False, False] Translation: X:2.18, Y:0.01, Z:-0.45 [[ 9.99995718e-01 8.16611316e-05 -2.92512479e-03 2.18237856e+00] [ 7.29431754e-05 9.98604319e-01 5.28148483e-02 1.28464288e-02] [ 2.92535517e-03 -5.28148356e-02 9.98600038e-01 -4.53253102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877193469999998 meters Centerline goodness : 0.888260 Centerline is valid? [False, False] Translation: X:2.17, Y:0.01, Z:-0.45 [[ 0.99997043 -0.00258312 -0.00724304 2.1659227 ] [ 0.00293707 0.99878013 0.04929121 0.01124628] [ 0.00710688 -0.04931103 0.99875819 -0.45275364] [ 0. 0. 0. 1. ]] SLAMing on 24.90719347 meters Centerline goodness : 0.891009 Centerline is valid? [False, False] Translation: X:2.15, Y:0.01, Z:-0.45 [[ 0.99996107 -0.0036181 -0.00804809 2.1460955 ] [ 0.0039776 0.99897401 0.04511211 0.01407632] [ 0.00787661 -0.04514236 0.99894951 -0.45138472] [ 0. 0. 0. 1. ]] SLAMing on 24.93719347 meters Centerline goodness : 0.890893 Centerline is valid? [False, False] Translation: X:2.13, Y:0.02, Z:-0.45 [[ 0.99992175 -0.00239702 -0.01227825 2.13098528] [ 0.0028575 0.99928784 0.03762502 0.02001269] [ 0.01217932 -0.03765716 0.99921649 -0.4462342 ] [ 0. 0. 0. 1. ]] SLAMing on 24.96719347 meters Centerline goodness : 0.885476 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.44 [[ 9.99927226e-01 -1.04243329e-03 -1.20189959e-02 2.10866523e+00] [ 1.46885024e-03 9.99367725e-01 3.55245288e-02 2.34366677e-02] [ 1.19743646e-02 -3.55395976e-02 9.99296528e-01 -4.43234626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99719347 meters Centerline goodness : 0.887010 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.44 [[ 0.99992777 -0.00265607 -0.01172216 2.10614325] [ 0.00304845 0.99943128 0.03358304 0.02366766] [ 0.0116263 -0.03361634 0.99936719 -0.44045155] [ 0. 0. 0. 1. ]] SLAMing on 25.02719347 meters Centerline goodness : 0.893625 Centerline is valid? [False, False] Translation: X:2.11, Y:0.02, Z:-0.44 [[ 0.99992796 -0.00314948 -0.01158261 2.1054599 ] [ 0.00353021 0.99944918 0.0329982 0.0239282 ] [ 0.0114723 -0.03303671 0.99938829 -0.43969728] [ 0. 0. 0. 1. ]] SLAMing on 25.05719347 meters Centerline goodness : 0.889836 Centerline is valid? [False, False] Translation: X:2.10, Y:0.03, Z:-0.44 [[ 9.99933731e-01 1.69453628e-04 -1.15110440e-02 2.10494397e+00] [ 2.37174038e-04 9.99376222e-01 3.53144553e-02 2.83659826e-02] [ 1.15098478e-02 -3.53148452e-02 9.99309954e-01 -4.39173170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08719347 meters Centerline goodness : 0.888810 Centerline is valid? [False, False] Translation: X:2.11, Y:0.03, Z:-0.44 [[ 0.99991985 0.00401495 -0.01200693 2.10597821] [-0.0035573 0.99927532 0.03789702 0.03314737] [ 0.01215038 -0.03785127 0.99920951 -0.43941169] [ 0. 0. 0. 1. ]] SLAMing on 25.11719347 meters Centerline goodness : 0.890389 Centerline is valid? [False, False] Translation: X:2.10, Y:0.04, Z:-0.44 [[ 0.99990322 0.01131003 -0.00810096 2.10066247] [-0.01099259 0.99920919 0.03821208 0.03788245] [ 0.00852674 -0.03811933 0.99923681 -0.44327463] [ 0. 0. 0. 1. ]] SLAMing on 25.14719347 meters Centerline goodness : 0.897044 Centerline is valid? [False, False] Translation: X:2.10, Y:0.05, Z:-0.44 [[ 0.99960199 0.02754029 -0.0061152 2.095146 ] [-0.02731453 0.99903632 0.03435633 0.04814528] [ 0.00705549 -0.03417562 0.99939094 -0.44060955] [ 0. 0. 0. 1. ]] SLAMing on 25.17719347 meters Centerline goodness : 0.891313 Centerline is valid? [False, False] Translation: X:2.10, Y:0.05, Z:-0.44 [[ 0.99946453 0.03170555 -0.00808772 2.10115216] [-0.03145272 0.99906458 0.02967653 0.05393589] [ 0.00902107 -0.02940626 0.99952683 -0.4357305 ] [ 0. 0. 0. 1. ]] SLAMing on 25.20719347 meters Centerline goodness : 0.889837 Centerline is valid? [False, False] Translation: X:2.10, Y:0.06, Z:-0.44 [[ 0.99932154 0.03588574 -0.00828712 2.10200233] [-0.0355936 0.99881956 0.03305412 0.05602206] [ 0.00946351 -0.03273672 0.99941921 -0.4359866 ] [ 0. 0. 0. 1. ]] SLAMing on 25.23719347 meters Centerline goodness : 0.888335 Centerline is valid? [False, False] Translation: X:2.10, Y:0.06, Z:-0.44 [[ 0.99930054 0.03638498 -0.00863488 2.10313653] [-0.03608857 0.99882631 0.03230512 0.0593918 ] [ 0.00980016 -0.0319709 0.99944075 -0.43648995] [ 0. 0. 0. 1. ]] SLAMing on 25.26719347 meters Centerline goodness : 0.889109 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99925628 0.03742935 -0.00927006 2.10582565] [-0.03710784 0.99877558 0.03271609 0.06119012] [ 0.01048325 -0.03234776 0.99942169 -0.43822174] [ 0. 0. 0. 1. ]] SLAMing on 25.29719347 meters Centerline goodness : 0.891202 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99926335 0.03712398 -0.00972504 2.1075247 ] [-0.03679141 0.99879774 0.03239541 0.06189794] [ 0.010916 -0.03201374 0.99942782 -0.4394682 ] [ 0. 0. 0. 1. ]] SLAMing on 25.32719347 meters Centerline goodness : 0.890455 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99939924 0.03317522 -0.01002786 2.10789324] [-0.03288277 0.99906571 0.02804323 0.06327686] [ 0.01094883 -0.02769664 0.99955641 -0.4394413 ] [ 0. 0. 0. 1. ]] SLAMing on 25.35719347 meters Centerline goodness : 0.889311 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99949465 0.03000828 -0.01048586 2.10809957] [-0.02973906 0.99924623 0.02495115 0.06141828] [ 0.0112267 -0.0246267 0.99963368 -0.43862543] [ 0. 0. 0. 1. ]] SLAMing on 25.38719347 meters Centerline goodness : 0.889287 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99955888 0.02747912 -0.0112665 2.10994473] [-0.02722298 0.99938082 0.02229085 0.05984693] [ 0.01187206 -0.02197431 0.99968804 -0.43915058] [ 0. 0. 0. 1. ]] SLAMing on 25.41719347 meters Centerline goodness : 0.886407 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99964299 0.02409761 -0.01154136 2.11038675] [-0.0238767 0.99953604 0.0189104 0.05816106] [ 0.0119917 -0.01862808 0.99975457 -0.43916263] [ 0. 0. 0. 1. ]] SLAMing on 25.44719347 meters Centerline goodness : 0.888128 Centerline is valid? [False, False] Translation: X:2.11, Y:0.06, Z:-0.44 [[ 0.99971549 0.02071877 -0.01181859 2.11069302] [-0.0205322 0.99966599 0.0156949 0.05592389] [ 0.01213982 -0.01544777 0.99980698 -0.43900713] [ 0. 0. 0. 1. ]] SLAMing on 25.47719347 meters Centerline goodness : 0.880961 Centerline is valid? [False, False] Translation: X:2.13, Y:0.05, Z:-0.44 [[ 0.99976503 0.01977318 -0.00888304 2.12823097] [-0.01957948 0.99957951 0.02138788 0.04564479] [ 0.00930221 -0.02120893 0.99973179 -0.44064157] [ 0. 0. 0. 1. ]] SLAMing on 25.50719347 meters Centerline goodness : 0.882452 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.44 [[ 0.99982007 0.01770904 -0.00679814 2.1467401 ] [-0.01754307 0.99956416 0.02374302 0.04114594] [ 0.00721564 -0.02361949 0.99969498 -0.44188321] [ 0. 0. 0. 1. ]] SLAMing on 25.53719347 meters Centerline goodness : 0.881672 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:-0.44 [[ 0.99985999 0.01505071 -0.00731227 2.14838197] [-0.01489053 0.99965823 0.02148699 0.03823819] [ 0.00763317 -0.0213751 0.99974239 -0.44274616] [ 0. 0. 0. 1. ]] SLAMing on 25.56719347 meters Centerline goodness : 0.883527 Centerline is valid? [False, False] Translation: X:2.17, Y:0.03, Z:-0.44 [[ 0.99991328 0.01239116 -0.00446099 2.16607485] [-0.01228462 0.99965614 0.02316657 0.03368672] [ 0.00474651 -0.02310976 0.99972167 -0.44371492] [ 0. 0. 0. 1. ]] SLAMing on 25.59719347 meters Centerline goodness : 0.878464 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.44 [[ 9.99957761e-01 9.09957388e-03 -1.29414904e-03 2.18325773e+00] [-9.06542283e-03 9.99663204e-01 2.43165747e-02 2.80615976e-02] [ 1.51498365e-03 -2.43038156e-02 9.99703471e-01 -4.44594046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627193469999998 meters Centerline goodness : 0.879782 Centerline is valid? [False, False] Translation: X:2.22, Y:0.01, Z:-0.45 [[ 0.99998943 0.0036059 0.00285209 2.21538113] [-0.00370038 0.99942011 0.03384902 0.01140066] [-0.00272838 -0.03385921 0.99942289 -0.44870175] [ 0. 0. 0. 1. ]] SLAMing on 25.65719347 meters Centerline goodness : 0.875922 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.45 [[ 9.99998891e-01 -8.85420017e-04 1.19711077e-03 2.25188645e+00] [ 8.42205409e-04 9.99364696e-01 3.56299782e-02 5.01846490e-03] [-1.22789773e-03 -3.56289305e-02 9.99364334e-01 -4.49693047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68719347 meters Centerline goodness : 0.875922 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.45 [[ 9.99998920e-01 -8.08369113e-04 1.22779090e-03 2.25183605e+00] [ 7.64176173e-04 9.99366627e-01 3.55775293e-02 5.08651237e-03] [-1.25577303e-03 -3.55765526e-02 9.99366165e-01 -4.49713268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717193469999998 meters Centerline goodness : 0.872246 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.01, Z:-0.45 [[ 0.99994589 -0.00971445 0.00372075 2.28182174] [ 0.00944913 0.9977954 0.06568905 -0.01236075] [-0.00435068 -0.06565034 0.9978332 -0.45068682] [ 0. 0. 0. 1. ]] SLAMing on 25.74719347 meters Centerline goodness : 0.878191 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.01, Z:-0.45 [[ 0.99990619 -0.01322144 0.00357819 2.28216491] [ 0.01297027 0.99793518 0.06290584 -0.01498626] [-0.00440251 -0.06285353 0.99801305 -0.44965884] [ 0. 0. 0. 1. ]] SLAMing on 25.77719347 meters Centerline goodness : 0.870415 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:-0.45 [[ 0.99984199 -0.01576941 0.00820505 2.29697819] [ 0.01521833 0.99787406 0.06336997 -0.01820121] [-0.00918692 -0.06323509 0.99795637 -0.44788108] [ 0. 0. 0. 1. ]] SLAMing on 25.80719347 meters Centerline goodness : 0.873738 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:-0.44 [[ 0.99984585 -0.01557702 0.00810091 2.30136426] [ 0.01490164 0.99687034 0.07763676 -0.02623369] [-0.00928491 -0.07750408 0.9969488 -0.44134678] [ 0. 0. 0. 1. ]] SLAMing on 25.83719347 meters Centerline goodness : 0.870691 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:-0.44 [[ 0.99980429 -0.01838348 0.00730949 2.30365315] [ 0.01778144 0.99700229 0.07530112 -0.02998171] [-0.00867187 -0.07515641 0.99713405 -0.44189587] [ 0. 0. 0. 1. ]] SLAMing on 25.86719347 meters Centerline goodness : 0.870424 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:-0.44 [[ 9.99840142e-01 -1.77763547e-02 1.92117030e-03 2.31286171e+00] [ 1.75062761e-02 9.95131476e-01 9.69890547e-02 -4.61636736e-02] [-3.63592888e-03 -9.69399177e-02 9.95283594e-01 -4.37958214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89719347 meters Centerline goodness : 0.871515 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:-0.44 [[ 9.99822646e-01 -1.86777601e-02 -2.41189256e-03 2.32025327e+00] [ 1.88203264e-02 9.95598750e-01 9.18091703e-02 -4.48459638e-02] [ 6.86487556e-04 -9.18382802e-02 9.95773699e-01 -4.35351311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92719347 meters Centerline goodness : 0.872945 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.43 [[ 9.99841365e-01 -1.76772609e-02 -2.18158637e-03 2.32581620e+00] [ 1.77963165e-02 9.96509076e-01 8.15656367e-02 -4.07082663e-02] [ 7.32113575e-04 -8.15915217e-02 9.96665585e-01 -4.32513428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95719347 meters Centerline goodness : 0.872192 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.04, Z:-0.43 [[ 9.99870210e-01 -1.59810369e-02 -2.04211851e-03 2.33052957e+00] [ 1.60866758e-02 9.97269328e-01 7.20770833e-02 -3.68090048e-02] [ 8.84675627e-04 -7.21005793e-02 9.97396974e-01 -4.28640167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98719347 meters Centerline goodness : 0.874630 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:-0.42 [[ 0.99995051 -0.00925018 -0.00366119 2.34433412] [ 0.00945912 0.99803773 0.0618968 -0.03644536] [ 0.00308145 -0.06192837 0.99807584 -0.42211002] [ 0. 0. 0. 1. ]] SLAMing on 26.01719347 meters Centerline goodness : 0.873298 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.42 [[ 0.99996677 -0.00556726 -0.0059548 2.35855761] [ 0.00585961 0.99871898 0.05026 -0.03575558] [ 0.00566736 -0.05029322 0.99871842 -0.41765176] [ 0. 0. 0. 1. ]] SLAMing on 26.04719347 meters Centerline goodness : 0.875538 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.42 [[ 0.99995831 -0.00636673 -0.00654514 2.36114424] [ 0.00668151 0.99876399 0.04925284 -0.03814921] [ 0.00622347 -0.04929452 0.9987649 -0.41922756] [ 0. 0. 0. 1. ]] SLAMing on 26.07719347 meters Centerline goodness : 0.874673 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.42 [[ 0.99994989 -0.00706753 -0.00709063 2.36423588] [ 0.00740357 0.99879368 0.04854252 -0.03891886] [ 0.006739 -0.04859258 0.99879595 -0.42173749] [ 0. 0. 0. 1. ]] SLAMing on 26.10719347 meters Centerline goodness : 0.874098 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.42 [[ 0.99995025 -0.00637827 -0.00766854 2.36669597] [ 0.00674921 0.99875819 0.04936127 -0.0403622 ] [ 0.00734417 -0.04941057 0.99875155 -0.42341223] [ 0. 0. 0. 1. ]] SLAMing on 26.13719347 meters Centerline goodness : 0.876096 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.42 [[ 0.99995143 -0.00564566 -0.00807875 2.3678517 ] [ 0.0060433 0.99872719 0.05007477 -0.04137292] [ 0.00778576 -0.05012116 0.9987128 -0.423824 ] [ 0. 0. 0. 1. ]] SLAMing on 26.16719347 meters Centerline goodness : 0.875807 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.04, Z:-0.42 [[ 9.99962839e-01 5.27132357e-04 -8.60476268e-03 2.38367386e+00] [-1.86576076e-04 9.99218344e-01 3.95305706e-02 -4.37179481e-02] [ 8.61887456e-03 -3.95274962e-02 9.99181311e-01 -4.19863125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19719347 meters Centerline goodness : 0.873715 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.42 [[ 9.99935541e-01 2.80110802e-03 -1.10030883e-02 2.38767333e+00] [-2.35687822e-03 9.99189650e-01 4.01807051e-02 -4.60703633e-02] [ 1.11067225e-02 -4.01521821e-02 9.99131845e-01 -4.18846519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22719347 meters Centerline goodness : 0.875774 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.42 [[ 0.99992227 0.00453766 -0.01161335 2.38964804] [-0.00404942 0.99912091 0.04172534 -0.04771624] [ 0.01179248 -0.04167507 0.99906162 -0.41975833] [ 0. 0. 0. 1. ]] SLAMing on 26.25719347 meters Centerline goodness : 0.876876 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.42 [[ 0.99988551 0.00693926 -0.01344684 2.39332183] [-0.00635562 0.99905613 0.04297038 -0.0486296 ] [ 0.01373233 -0.04288 0.99898585 -0.41999416] [ 0. 0. 0. 1. ]] SLAMing on 26.28719347 meters Centerline goodness : 0.876041 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.42 [[ 0.99977982 0.01181022 -0.01734473 2.39989843] [-0.01105672 0.99901759 0.04291389 -0.0514453 ] [ 0.01783451 -0.04271267 0.9989282 -0.41614974] [ 0. 0. 0. 1. ]] SLAMing on 26.31719347 meters Centerline goodness : 0.876422 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.42 [[ 0.99980701 0.00900982 -0.01745753 2.39991563] [-0.00830472 0.99916319 0.04004927 -0.05294288] [ 0.01780376 -0.03989656 0.99904519 -0.41578958] [ 0. 0. 0. 1. ]] SLAMing on 26.34719347 meters Centerline goodness : 0.874540 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:-0.42 [[ 0.99982908 0.00566352 -0.01759946 2.4002361 ] [-0.00500925 0.99930273 0.03699946 -0.05518534] [ 0.01779673 -0.03690497 0.9991603 -0.41572209] [ 0. 0. 0. 1. ]] SLAMing on 26.377193469999998 meters Centerline goodness : 0.877729 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:-0.42 [[ 9.99840372e-01 1.93821014e-03 -1.77615709e-02 2.40066510e+00] [-1.33842172e-03 9.99430465e-01 3.37187624e-02 -5.71990400e-02] [ 1.78168091e-02 -3.36896075e-02 9.99273522e-01 -4.15712692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40719347 meters Centerline goodness : 0.879381 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.42 [[ 0.99986592 -0.00931275 -0.01346876 2.42420887] [ 0.00985395 0.9991232 0.04069058 -0.0652388 ] [ 0.01307801 -0.04081784 0.99908101 -0.41714626] [ 0. 0. 0. 1. ]] SLAMing on 26.43719347 meters Centerline goodness : 0.882317 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.07, Z:-0.42 [[ 0.99982852 -0.01453426 -0.0114755 2.44266055] [ 0.01497774 0.99910512 0.03955544 -0.07002921] [ 0.01089032 -0.03972053 0.99915148 -0.41708248] [ 0. 0. 0. 1. ]] SLAMing on 26.467193469999998 meters Centerline goodness : 0.879146 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.07, Z:-0.42 [[ 0.99969755 -0.02145196 -0.01202551 2.4457319 ] [ 0.02184062 0.99921079 0.03317796 -0.0729877 ] [ 0.01130429 -0.03343057 0.99937711 -0.41909806] [ 0. 0. 0. 1. ]] SLAMing on 26.49719347 meters Centerline goodness : 0.883275 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.07, Z:-0.42 [[ 0.99951207 -0.0289245 -0.01178962 2.44676169] [ 0.02922148 0.99923868 0.02584874 -0.07427689] [ 0.01103298 -0.02618063 0.99959634 -0.42038243] [ 0. 0. 0. 1. ]] SLAMing on 26.52719347 meters Centerline goodness : 0.881719 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:-0.42 [[ 0.99927117 -0.03627846 -0.01187431 2.44867664] [ 0.03650556 0.99914314 0.01950222 -0.07852285] [ 0.01115663 -0.01992148 0.9997393 -0.42206547] [ 0. 0. 0. 1. ]] SLAMing on 26.55719347 meters Centerline goodness : 0.882994 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:-0.42 [[ 0.99918791 -0.03832579 -0.01243626 2.45058842] [ 0.03854018 0.9991041 0.01748304 -0.07967918] [ 0.01175507 -0.01794813 0.99976981 -0.42282943] [ 0. 0. 0. 1. ]] SLAMing on 26.58719347 meters Centerline goodness : 0.884741 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.08, Z:-0.42 [[ 0.99918965 -0.03819308 -0.01270193 2.45070767] [ 0.03841334 0.9991074 0.01757337 -0.08025255] [ 0.01201941 -0.01804705 0.99976489 -0.42221768] [ 0. 0. 0. 1. ]] SLAMing on 26.61719347 meters Centerline goodness : 0.884348 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99949298 -0.02877627 -0.01362759 2.46576108] [ 0.02891805 0.99952847 0.01032376 -0.07982741] [ 0.01332408 -0.01071261 0.99985384 -0.41849674] [ 0. 0. 0. 1. ]] SLAMing on 26.64719347 meters Centerline goodness : 0.882757 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99953392 -0.02721362 -0.01383309 2.46619993] [ 0.02736441 0.99956684 0.01083108 -0.07857725] [ 0.01353235 -0.01120457 0.99984565 -0.41838395] [ 0. 0. 0. 1. ]] SLAMing on 26.67719347 meters Centerline goodness : 0.886094 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99977471 -0.01800862 -0.01123485 2.47365827] [ 0.01810486 0.99979976 0.00852412 -0.07704659] [ 0.01107909 -0.0087256 0.99990055 -0.41746789] [ 0. 0. 0. 1. ]] SLAMing on 26.70719347 meters Centerline goodness : 0.884200 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.9997812 -0.01744674 -0.01154 2.47439399] [ 0.01754723 0.99980849 0.00866451 -0.07608259] [ 0.01138662 -0.00886511 0.99989587 -0.41772028] [ 0. 0. 0. 1. ]] SLAMing on 26.73719347 meters Centerline goodness : 0.885481 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.42 [[ 0.99977842 -0.01731825 -0.01196638 2.47548146] [ 0.01742434 0.99980929 0.00881904 -0.07611156] [ 0.01181136 -0.0090256 0.99988951 -0.41806642] [ 0. 0. 0. 1. ]] SLAMing on 26.76719347 meters Centerline goodness : 0.883986 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.08, Z:-0.42 [[ 0.99969801 -0.02146033 -0.01197254 2.4749662 ] [ 0.02152508 0.99975423 0.00530613 -0.07810741] [ 0.01185573 -0.00556224 0.99991425 -0.41707767] [ 0. 0. 0. 1. ]] SLAMing on 26.79719347 meters Centerline goodness : 0.889431 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.42 [[ 9.99601379e-01 -2.55207730e-02 -1.20736946e-02 2.47509071e+00] [ 2.55441026e-02 9.99672108e-01 1.78199821e-03 -8.02057836e-02] [ 1.20242577e-02 -2.08969956e-03 9.99925522e-01 -4.16584301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82719347 meters Centerline goodness : 0.887317 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.08, Z:-0.42 [[ 9.99486846e-01 -2.96333536e-02 -1.21617609e-02 2.47523733e+00] [ 2.96154898e-02 9.99560009e-01 -1.64636061e-03 -8.29783286e-02] [ 1.22051970e-02 1.28533927e-03 9.99924688e-01 -4.16081588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85719347 meters Centerline goodness : 0.891585 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99935875 -0.03364811 -0.01224321 2.47557921] [ 0.03358777 0.99942275 -0.00510141 -0.08535497] [ 0.0124078 0.00468692 0.99991204 -0.41586463] [ 0. 0. 0. 1. ]] SLAMing on 26.88719347 meters Centerline goodness : 0.887666 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99923052 -0.0372682 -0.01222498 2.47571281] [ 0.03717369 0.99927784 -0.00786884 -0.08828385] [ 0.01250941 0.00740834 0.99989431 -0.41565104] [ 0. 0. 0. 1. ]] SLAMing on 26.91719347 meters Centerline goodness : 0.892985 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99921714 -0.03748324 -0.01265342 2.47702433] [ 0.03738628 0.99927034 -0.00781375 -0.0884066 ] [ 0.01293708 0.00733457 0.99988941 -0.41625843] [ 0. 0. 0. 1. ]] SLAMing on 26.94719347 meters Centerline goodness : 0.886143 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.09, Z:-0.42 [[ 0.99921356 -0.0375132 -0.01284631 2.47768096] [ 0.03741583 0.99926982 -0.007738 -0.08866362] [ 0.01312721 0.00725125 0.99988754 -0.41657622] [ 0. 0. 0. 1. ]] SLAMing on 26.97719347 meters Centerline goodness : 0.893878 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.99942912 -0.0315524 -0.01207839 2.49869914] [ 0.03133977 0.99935721 -0.01740625 -0.08992226] [ 0.01261984 0.01701778 0.99977554 -0.41824683] [ 0. 0. 0. 1. ]] SLAMing on 27.00719347 meters Centerline goodness : 0.888382 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.999435 -0.03124988 -0.01237418 2.49968255] [ 0.03103153 0.99936587 -0.01746136 -0.08971076] [ 0.012912 0.0170675 0.99977096 -0.41874114] [ 0. 0. 0. 1. ]] SLAMing on 27.03719347 meters Centerline goodness : 0.889683 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.99944073 -0.03099959 -0.01253996 2.50073092] [ 0.03077482 0.99936896 -0.01773663 -0.08885269] [ 0.01308187 0.0173408 0.99976405 -0.41930513] [ 0. 0. 0. 1. ]] SLAMing on 27.06719347 meters Centerline goodness : 0.888661 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.09, Z:-0.42 [[ 0.99942941 -0.03129178 -0.01271555 2.50167651] [ 0.03105463 0.9993476 -0.01843865 -0.08735226] [ 0.01328424 0.01803326 0.99974913 -0.41982068] [ 0. 0. 0. 1. ]] SLAMing on 27.09719347 meters Centerline goodness : 0.888928 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.08, Z:-0.42 [[ 0.99939223 -0.03238505 -0.01289855 2.50266133] [ 0.03212747 0.99928961 -0.01970018 -0.08474913] [ 0.01352738 0.01927381 0.99972273 -0.42052896] [ 0. 0. 0. 1. ]] SLAMing on 27.127193469999998 meters Centerline goodness : 0.890893 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:-0.42 [[ 0.99947367 -0.03097929 -0.00962644 2.51307226] [ 0.03069742 0.99913183 -0.0281649 -0.08261963] [ 0.01049061 0.02785456 0.99955694 -0.42266337] [ 0. 0. 0. 1. ]] SLAMing on 27.15719347 meters Centerline goodness : 0.890025 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:-0.42 [[ 0.99944613 -0.03175775 -0.00994343 2.5140246 ] [ 0.03145979 0.99908969 -0.02881097 -0.08211749] [ 0.01084935 0.02848219 0.99953542 -0.42292742] [ 0. 0. 0. 1. ]] SLAMing on 27.18719347 meters Centerline goodness : 0.888684 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.08, Z:-0.42 [[ 0.99941 -0.03280227 -0.0101812 2.51482568] [ 0.03248862 0.99903434 -0.0295783 -0.08184644] [ 0.01114161 0.02923007 0.99951061 -0.42330361] [ 0. 0. 0. 1. ]] SLAMing on 27.217193469999998 meters Centerline goodness : 0.889257 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.08, Z:-0.42 [[ 0.99945691 -0.03217009 -0.00713935 2.53255166] [ 0.03195167 0.99907302 -0.02884765 -0.08050938] [ 0.00806076 0.02860386 0.99955832 -0.42302055] [ 0. 0. 0. 1. ]] SLAMing on 27.24719347 meters Centerline goodness : 0.887314 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.08, Z:-0.42 [[ 0.99954237 -0.02926603 -0.00765172 2.53384955] [ 0.02905285 0.99922317 -0.02662694 -0.07615723] [ 0.00842504 0.02639245 0.99961616 -0.42359047] [ 0. 0. 0. 1. ]] SLAMing on 27.27719347 meters Centerline goodness : 0.889498 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.08, Z:-0.42 [[ 0.99963831 -0.02562499 -0.0081618 2.5351236 ] [ 0.02543189 0.99941322 -0.02294437 -0.07531643] [ 0.00874496 0.0227285 0.99970343 -0.42429663] [ 0. 0. 0. 1. ]] SLAMing on 27.30719347 meters Centerline goodness : 0.887085 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99972802 -0.02175363 -0.00840625 2.53567999] [ 0.02159061 0.99958596 -0.01902007 -0.07490922] [ 0.00881653 0.0188334 0.99978376 -0.42454256] [ 0. 0. 0. 1. ]] SLAMing on 27.33719347 meters Centerline goodness : 0.888026 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99980289 -0.01789977 -0.00858934 2.53587407] [ 0.01776718 0.9997255 -0.01527274 -0.07409244] [ 0.00886036 0.01511712 0.99984647 -0.42434413] [ 0. 0. 0. 1. ]] SLAMing on 27.36719347 meters Centerline goodness : 0.889068 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99991533 -0.00955428 -0.00883459 2.53579586] [ 0.00949068 0.99992894 -0.00721333 -0.07360246] [ 0.00890288 0.00712888 0.99993496 -0.42373071] [ 0. 0. 0. 1. ]] SLAMing on 27.39719347 meters Centerline goodness : 0.885716 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 0.99994611 -0.00533109 -0.00890865 2.5355752 ] [ 0.00530458 0.99998144 -0.00299666 -0.07408378] [ 0.00892446 0.00294924 0.99995583 -0.4232566 ] [ 0. 0. 0. 1. ]] SLAMing on 27.42719347 meters Centerline goodness : 0.889433 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:-0.42 [[ 9.99959338e-01 -2.85274780e-03 -8.55482365e-03 2.53363379e+00] [ 2.84742963e-03 9.99995745e-01 -6.33773267e-04 -7.37167372e-02] [ 8.55659525e-03 6.09388238e-04 9.99963206e-01 -4.21644219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45719347 meters Centerline goodness : 0.888587 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.42 [[ 9.99959106e-01 -9.83946073e-06 -9.04351951e-03 2.53611973e+00] [ 2.83694684e-05 9.99997901e-01 2.04885589e-03 -7.26301068e-02] [ 9.04348036e-03 -2.04902867e-03 9.99957008e-01 -4.23519158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48719347 meters Centerline goodness : 0.892518 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99998450e-01 6.63087625e-04 1.63105297e-03 2.54287044e+00] [-6.67451698e-04 9.99996195e-01 2.67652948e-03 -7.17688031e-02] [-1.62927199e-03 -2.67761398e-03 9.99995088e-01 -4.30000135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51719347 meters Centerline goodness : 0.888086 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99998304e-01 9.29342544e-04 1.59018979e-03 2.54311270e+00] [-9.33769499e-04 9.99995685e-01 2.78544191e-03 -7.16585376e-02] [-1.58759430e-03 -2.78692206e-03 9.99994856e-01 -4.30189288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54719347 meters Centerline goodness : 0.888838 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99998079e-01 1.35143389e-03 1.41954177e-03 2.54363104e+00] [-1.35591492e-03 9.99994086e-01 3.16046932e-03 -7.24629393e-02] [-1.41526222e-03 -3.16238803e-03 9.99993998e-01 -4.30374568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57719347 meters Centerline goodness : 0.887814 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99997474e-01 1.85842128e-03 1.26443023e-03 2.54393148e+00] [-1.86340306e-03 9.99990462e-01 3.95023764e-03 -7.48811594e-02] [-1.25707696e-03 -3.95258381e-03 9.99991398e-01 -4.30265628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60719347 meters Centerline goodness : 0.887814 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.43 [[ 9.99997474e-01 1.85842128e-03 1.26443023e-03 2.54393148e+00] [-1.86340306e-03 9.99990462e-01 3.95023764e-03 -7.48811594e-02] [-1.25707696e-03 -3.95258381e-03 9.99991398e-01 -4.30265628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63719347 meters Centerline goodness : 0.889673 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.43 [[ 9.99975006e-01 2.43717622e-03 6.63683857e-03 2.55645245e+00] [-2.48039777e-03 9.99975721e-01 6.51194530e-03 -8.24245168e-02] [-6.62080667e-03 -6.52824454e-03 9.99956773e-01 -4.27013060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66719347 meters Centerline goodness : 0.891258 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.43 [[ 9.99976782e-01 2.17515732e-03 6.45793289e-03 2.55669351e+00] [-2.22089558e-03 9.99972443e-01 7.08378987e-03 -8.46208780e-02] [-6.44234657e-03 -7.09796779e-03 9.99954056e-01 -4.26533588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69719347 meters Centerline goodness : 0.890773 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.09, Z:-0.43 [[ 9.99951355e-01 -6.63205252e-04 9.84114574e-03 2.56780109e+00] [ 5.09678082e-04 9.99878263e-01 1.55948536e-02 -8.78070018e-02] [-9.85029030e-03 -1.55890792e-02 9.99829962e-01 -4.29378722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72719347 meters Centerline goodness : 0.890012 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.09, Z:-0.43 [[ 0.9999419 -0.00471272 0.00969424 2.56851256] [ 0.0045991 0.99992087 0.01170941 -0.08851169] [-0.00974865 -0.01166415 0.99988445 -0.42991581] [ 0. 0. 0. 1. ]] SLAMing on 27.75719347 meters Centerline goodness : 0.891707 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.09, Z:-0.43 [[ 0.99989253 -0.01133575 0.00929706 2.5710425 ] [ 0.01128095 0.99991882 0.0059247 -0.09333398] [-0.00936347 -0.00581919 0.99993923 -0.43199246] [ 0. 0. 0. 1. ]] SLAMing on 27.78719347 meters Centerline goodness : 0.890091 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.10, Z:-0.43 [[ 0.99985109 -0.01468583 0.00906204 2.57265672] [ 0.01466052 0.99988846 0.00285383 -0.0954323 ] [-0.00910294 -0.00272055 0.99995487 -0.433292 ] [ 0. 0. 0. 1. ]] SLAMing on 27.81719347 meters Centerline goodness : 0.889155 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.44 [[ 9.99812571e-01 -1.73999339e-02 8.48907961e-03 2.57547763e+00] [ 1.73987350e-02 9.99848607e-01 2.15072383e-04 -9.69131677e-02] [-8.49153667e-03 -6.73328265e-05 9.99963944e-01 -4.35415893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84719347 meters Centerline goodness : 0.891415 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.44 [[ 0.99975437 -0.02088043 0.00743002 2.58121679] [ 0.02090186 0.99977756 -0.00281908 -0.0993551 ] [-0.00736951 0.00297368 0.99996842 -0.43999618] [ 0. 0. 0. 1. ]] SLAMing on 27.877193469999998 meters Centerline goodness : 0.891162 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.44 [[ 0.9997073 -0.0232805 0.00658322 2.58540893] [ 0.02331359 0.99971572 -0.00499532 -0.10046904] [-0.00646506 0.00514734 0.99996585 -0.44319554] [ 0. 0. 0. 1. ]] SLAMing on 27.90719347 meters Centerline goodness : 0.890338 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.44 [[ 0.99960432 -0.02745824 0.00610299 2.58732855] [ 0.02750916 0.99958607 -0.00842263 -0.10293357] [-0.00586919 0.00858719 0.9999459 -0.44422701] [ 0. 0. 0. 1. ]] SLAMing on 27.93719347 meters Centerline goodness : 0.889205 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.45 [[ 0.9995624 -0.02904983 0.00557746 2.5895253 ] [ 0.02910129 0.99953247 -0.0093783 -0.1040059 ] [-0.00530242 0.00953651 0.99994047 -0.44552485] [ 0. 0. 0. 1. ]] SLAMing on 27.967193469999998 meters Centerline goodness : 0.892443 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:-0.45 [[ 0.99950066 -0.03120259 0.00498218 2.59186557] [ 0.0312585 0.99944438 -0.01156918 -0.10403845] [-0.00461842 0.01171913 0.99992066 -0.44677178] [ 0. 0. 0. 1. ]] SLAMing on 27.99719347 meters Centerline goodness : 0.890815 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:-0.45 [[ 0.99948843 -0.03029094 0.01026338 2.60332517] [ 0.03049358 0.99933085 -0.02019888 -0.10248777] [-0.00964467 0.02050151 0.9997433 -0.45069959] [ 0. 0. 0. 1. ]] SLAMing on 28.02719347 meters Centerline goodness : 0.891825 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:-0.45 [[ 0.99950773 -0.02986598 0.00960868 2.60466737] [ 0.03005234 0.99935075 -0.0198728 -0.10330516] [-0.00900892 0.02015178 0.99975634 -0.45079453] [ 0. 0. 0. 1. ]] SLAMing on 28.05719347 meters Centerline goodness : 0.892948 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.46 [[ 0.99956635 -0.02650117 0.0128372 2.6183982 ] [ 0.02682119 0.99931664 -0.02543381 -0.10243593] [-0.0121544 0.02576709 0.99959408 -0.45531434] [ 0. 0. 0. 1. ]] SLAMing on 28.08719347 meters Centerline goodness : 0.892969 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:-0.46 [[ 0.99957928 -0.02615813 0.01253028 2.61921389] [ 0.02646831 0.99933036 -0.02526368 -0.10198351] [-0.01186104 0.0255847 0.99960229 -0.45557081] [ 0. 0. 0. 1. ]] SLAMing on 28.11719347 meters Centerline goodness : 0.895247 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.10, Z:-0.45 [[ 0.99969173 -0.0216741 0.01211149 2.6444402 ] [ 0.02202225 0.99932533 -0.02939215 -0.10125605] [-0.01146627 0.02964981 0.99949458 -0.45409054] [ 0. 0. 0. 1. ]] SLAMing on 28.14719347 meters Centerline goodness : 0.891851 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.10, Z:-0.46 [[ 0.99975889 -0.01872038 0.01147629 2.64647961] [ 0.01901135 0.99948655 -0.02579142 -0.10256841] [-0.01098757 0.02600338 0.99960147 -0.45525711] [ 0. 0. 0. 1. ]] SLAMing on 28.17719347 meters Centerline goodness : 0.890794 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99974167 -0.01531163 0.01679742 2.65857791] [ 0.01582701 0.99939436 -0.03099065 -0.10188694] [-0.01631273 0.0312485 0.99937852 -0.45962132] [ 0. 0. 0. 1. ]] SLAMing on 28.20719347 meters Centerline goodness : 0.892157 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99974998 -0.01500752 0.01657562 2.65899497] [ 0.01551076 0.9994095 -0.03066051 -0.10195223] [-0.01610569 0.03090995 0.99939241 -0.45951843] [ 0. 0. 0. 1. ]] SLAMing on 28.23719347 meters Centerline goodness : 0.894243 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99978211 -0.01316648 0.01619804 2.66029887] [ 0.01362493 0.9995002 -0.02852577 -0.10131049] [-0.01581436 0.02874026 0.99946181 -0.46010687] [ 0. 0. 0. 1. ]] SLAMing on 28.26719347 meters Centerline goodness : 0.893659 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99977982 -0.01364369 0.01594234 2.66122547] [ 0.01410015 0.99948345 -0.02887948 -0.10081412] [-0.01554009 0.02909791 0.99945576 -0.46062672] [ 0. 0. 0. 1. ]] SLAMing on 28.29719347 meters Centerline goodness : 0.891487 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99976742 -0.01521508 0.01528452 2.66378946] [ 0.01567026 0.99942359 -0.03011536 -0.10034334] [-0.0148175 0.03034787 0.99942956 -0.46227449] [ 0. 0. 0. 1. ]] SLAMing on 28.32719347 meters Centerline goodness : 0.896039 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.46 [[ 0.99969671 -0.01950807 0.01503091 2.66489435] [ 0.0200178 0.99920273 -0.03454273 -0.09938802] [-0.01434507 0.03483314 0.99929018 -0.46287581] [ 0. 0. 0. 1. ]] SLAMing on 28.35719347 meters Centerline goodness : 0.893777 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.46 [[ 0.99952499 -0.02771958 0.01346931 2.68788151] [ 0.02825007 0.99876231 -0.04093623 -0.09856605] [-0.0123179 0.0412973 0.99907097 -0.46488556] [ 0. 0. 0. 1. ]] SLAMing on 28.38719347 meters Centerline goodness : 0.892378 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.47 [[ 0.99949376 -0.02896723 0.0131577 2.68876118] [ 0.02948979 0.99870616 -0.04142906 -0.09922211] [-0.01194059 0.0417961 0.99905481 -0.46514608] [ 0. 0. 0. 1. ]] SLAMing on 28.41719347 meters Centerline goodness : 0.884694 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.47 [[ 0.99946557 -0.03006202 0.01283964 2.68948426] [ 0.03057911 0.99864197 -0.04217969 -0.09845829] [-0.0115542 0.04254977 0.99902754 -0.46512609] [ 0. 0. 0. 1. ]] SLAMing on 28.44719347 meters Centerline goodness : 0.885407 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.10, Z:-0.47 [[ 0.99945287 -0.03017184 0.01355051 2.70978059] [ 0.03070451 0.99868758 -0.04099211 -0.09710492] [-0.01229591 0.04138574 0.99906758 -0.46566992] [ 0. 0. 0. 1. ]] SLAMing on 28.47719347 meters Centerline goodness : 0.886881 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:-0.47 [[ 0.99946606 -0.02974631 0.01351893 2.73108985] [ 0.03028326 0.99868277 -0.04142037 -0.08951822] [-0.01226902 0.04180766 0.99905034 -0.46745014] [ 0. 0. 0. 1. ]] SLAMing on 28.50719347 meters Centerline goodness : 0.888332 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.47 [[ 0.99946357 -0.02784228 0.01724445 2.7482236 ] [ 0.02851791 0.99878223 -0.04025896 -0.08598207] [-0.01610255 0.04072914 0.99904046 -0.4674341 ] [ 0. 0. 0. 1. ]] SLAMing on 28.53719347 meters Centerline goodness : 0.881075 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.47 [[ 0.99955356 -0.02435667 0.01730416 2.7473023 ] [ 0.0249929 0.99898197 -0.0375551 -0.08296175] [-0.01637183 0.03797082 0.99914472 -0.46596479] [ 0. 0. 0. 1. ]] SLAMing on 28.56719347 meters Centerline goodness : 0.884913 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.47 [[ 0.99975207 -0.01405951 0.01726662 2.74694828] [ 0.01455357 0.9994784 -0.0288293 -0.07647724] [-0.01685229 0.02907344 0.99943521 -0.46502871] [ 0. 0. 0. 1. ]] SLAMing on 28.59719347 meters Centerline goodness : 0.886030 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:-0.47 [[ 0.99983481 -0.00702133 0.01676466 2.74873101] [ 0.00739811 0.99971904 -0.02251911 -0.07246145] [-0.01660184 0.02263941 0.99960584 -0.46611883] [ 0. 0. 0. 1. ]] SLAMing on 28.627193469999998 meters Centerline goodness : 0.887503 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:-0.47 [[ 9.99860667e-01 7.45222584e-04 1.66760794e-02 2.74925924e+00] [-4.82600582e-04 9.99875893e-01 -1.57469121e-02 -6.76861713e-02] [-1.66857447e-02 1.57366702e-02 9.99736937e-01 -4.66505490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65719347 meters Centerline goodness : 0.888095 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.06, Z:-0.47 [[ 0.99975802 0.01487659 0.01620457 2.75195123] [-0.01480775 0.99988085 -0.00436032 -0.05524045] [-0.0162675 0.00411931 0.99985919 -0.46867203] [ 0. 0. 0. 1. ]] SLAMing on 28.68719347 meters Centerline goodness : 0.886587 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.05, Z:-0.47 [[ 9.99659101e-01 2.08859449e-02 1.56671369e-02 2.75513565e+00] [-2.09007646e-02 9.99781249e-01 7.82750435e-04 -4.98228833e-02] [-1.56473612e-02 -1.10993874e-03 9.99876956e-01 -4.71155672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717193469999998 meters Centerline goodness : 0.889336 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.47 [[ 9.99600244e-01 2.40186608e-02 1.49149429e-02 2.75881209e+00] [-2.40600358e-02 9.99707132e-01 2.60082379e-03 -4.46374201e-02] [-1.48481065e-02 -2.95863815e-03 9.99885384e-01 -4.73962048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74719347 meters Centerline goodness : 0.890116 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:-0.48 [[ 0.9995418 0.02666566 0.01432274 2.76202871] [-0.02673238 0.99963255 0.00448736 -0.04125645] [-0.01419782 -0.00486818 0.99988735 -0.47654112] [ 0. 0. 0. 1. ]] SLAMing on 28.77719347 meters Centerline goodness : 0.895902 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.48 [[ 0.99949329 0.02874596 0.01366885 2.76571265] [-0.02882487 0.99956873 0.00561159 -0.03678499] [-0.01350164 -0.00600275 0.99989083 -0.47971242] [ 0. 0. 0. 1. ]] SLAMing on 28.807193469999998 meters Centerline goodness : 0.892903 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99951313 0.028274 0.01319435 2.76695255] [-0.02833874 0.99958711 0.00474561 -0.03451252] [-0.01305472 -0.00511721 0.99990169 -0.48011076] [ 0. 0. 0. 1. ]] SLAMing on 28.83719347 meters Centerline goodness : 0.893395 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99953188 0.02779205 0.01279141 2.76805579] [-0.02784722 0.99960356 0.00415511 -0.03296121] [-0.01267086 -0.00450937 0.99990955 -0.4805134 ] [ 0. 0. 0. 1. ]] SLAMing on 28.86719347 meters Centerline goodness : 0.893126 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99955126 0.02728603 0.01235905 2.76895375] [-0.02733308 0.9996197 0.00365432 -0.03164469] [-0.01225464 -0.00399049 0.99991695 -0.48044406] [ 0. 0. 0. 1. ]] SLAMing on 28.89719347 meters Centerline goodness : 0.893223 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99955134 0.02732258 0.0122718 2.76928406] [-0.02737024 0.9996184 0.00373226 -0.03111711] [-0.01216514 -0.00406647 0.99991773 -0.48032802] [ 0. 0. 0. 1. ]] SLAMing on 28.92719347 meters Centerline goodness : 0.898268 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99956314 0.02708591 0.01182751 2.77002464] [-0.02712961 0.99962562 0.00354984 -0.03032673] [-0.01172693 -0.00386916 0.99992375 -0.47999519] [ 0. 0. 0. 1. ]] SLAMing on 28.95719347 meters Centerline goodness : 0.897704 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 0.99957785 0.02670457 0.01144481 2.7707862 ] [-0.02674102 0.99963776 0.00304307 -0.02983112] [-0.0113594 -0.00334783 0.99992988 -0.47995521] [ 0. 0. 0. 1. ]] SLAMing on 28.98719347 meters Centerline goodness : 0.895475 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.03, Z:-0.48 [[ 9.99592764e-01 2.63139275e-02 1.10400666e-02 2.77141739e+00] [-2.63441251e-02 9.99649555e-01 2.59879991e-03 -2.96046718e-02] [-1.09678131e-02 -2.88858248e-03 9.99935680e-01 -4.79606978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01719347 meters Centerline goodness : 0.899552 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:-0.48 [[ 0.99961141 0.02325333 0.01537225 2.78136183] [-0.02340866 0.99967593 0.01000313 -0.03120302] [-0.01513466 -0.01035909 0.9998318 -0.48211001] [ 0. 0. 0. 1. ]] SLAMing on 29.04719347 meters Centerline goodness : 0.899701 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.03, Z:-0.48 [[ 0.99965341 0.02181432 0.0147377 2.78412529] [-0.02194127 0.99972306 0.00850751 -0.03064902] [-0.01454803 -0.00882793 0.9998552 -0.4842163 ] [ 0. 0. 0. 1. ]] SLAMing on 29.07719347 meters Centerline goodness : 0.905016 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99968679 0.02081186 0.01389941 2.78681518] [-0.020921 0.99975106 0.00775371 -0.03066925] [-0.01373458 -0.00804207 0.99987334 -0.48576461] [ 0. 0. 0. 1. ]] SLAMing on 29.10719347 meters Centerline goodness : 0.906153 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99970984 0.01990249 0.01356952 2.7877186 ] [-0.0200066 0.99977111 0.00758033 -0.03111959] [-0.01341554 -0.00784961 0.9998792 -0.48575983] [ 0. 0. 0. 1. ]] SLAMing on 29.13719347 meters Centerline goodness : 0.900528 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99971264 0.02001329 0.01319485 2.78830029] [-0.0201167 0.99976759 0.00775117 -0.03122454] [-0.01303666 -0.00801438 0.9998829 -0.48539117] [ 0. 0. 0. 1. ]] SLAMing on 29.16719347 meters Centerline goodness : 0.905923 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.48 [[ 0.99971472 0.01994981 0.01313307 2.78774177] [-0.02004996 0.99977055 0.00753926 -0.03077623] [-0.01297965 -0.00780043 0.99988533 -0.48403389] [ 0. 0. 0. 1. ]] SLAMing on 29.19719347 meters Centerline goodness : 0.902823 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.48 [[ 0.99972027 0.01992358 0.01274472 2.78870059] [-0.02001904 0.99977216 0.00740705 -0.03098946] [-0.01259424 -0.00766011 0.99989135 -0.48432492] [ 0. 0. 0. 1. ]] SLAMing on 29.22719347 meters Centerline goodness : 0.905021 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.48 [[ 0.99972716 0.01974527 0.01247889 2.78959196] [-0.01983649 0.9997771 0.00722877 -0.03145005] [-0.01233338 -0.00747434 0.99989601 -0.48484077] [ 0. 0. 0. 1. ]] SLAMing on 29.25719347 meters Centerline goodness : 0.911214 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99971768 0.02020348 0.0125053 2.79034505] [-0.02029981 0.99976487 0.00762416 -0.03167089] [-0.01234833 -0.00787587 0.99989274 -0.48544371] [ 0. 0. 0. 1. ]] SLAMing on 29.28719347 meters Centerline goodness : 0.903284 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99972197 0.02019964 0.01216411 2.79115782] [-0.02028545 0.99976992 0.00697239 -0.02892721] [-0.01202047 -0.0072172 0.99990171 -0.48560488] [ 0. 0. 0. 1. ]] SLAMing on 29.31719347 meters Centerline goodness : 0.901997 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99970673 0.02130034 0.0115221 2.79351505] [-0.0213904 0.99974115 0.00775088 -0.02816508] [-0.01135403 -0.00799507 0.99990358 -0.48695412] [ 0. 0. 0. 1. ]] SLAMing on 29.34719347 meters Centerline goodness : 0.907414 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.03, Z:-0.49 [[ 0.99970861 0.02149011 0.01099446 2.79497224] [-0.02157571 0.99973736 0.0077271 -0.02795526] [-0.01082551 -0.00796206 0.9999097 -0.48752489] [ 0. 0. 0. 1. ]] SLAMing on 29.377193469999998 meters Centerline goodness : 0.902594 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:-0.49 [[ 0.99971211 0.02152611 0.01059847 2.79634391] [-0.02160872 0.99973652 0.00774333 -0.02868149] [-0.010429 -0.00797012 0.99991385 -0.48833736] [ 0. 0. 0. 1. ]] SLAMing on 29.40719347 meters Centerline goodness : 0.910551 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.99981949 0.01614081 0.01002344 2.82147594] [-0.01631154 0.99971915 0.01719174 -0.0304218 ] [-0.00974314 -0.01735214 0.99980197 -0.49201362] [ 0. 0. 0. 1. ]] SLAMing on 29.43719347 meters Centerline goodness : 0.907578 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.9998285 0.01581929 0.00962942 2.82280287] [-0.01598115 0.99972827 0.01697049 -0.03022797] [-0.00935835 -0.01712147 0.99980962 -0.49269673] [ 0. 0. 0. 1. ]] SLAMing on 29.467193469999998 meters Centerline goodness : 0.901183 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.99984284 0.01527105 0.00900537 2.82431925] [-0.01541926 0.9997429 0.01662448 -0.0302083 ] [-0.00874918 -0.01676072 0.99982125 -0.49313395] [ 0. 0. 0. 1. ]] SLAMing on 29.49719347 meters Centerline goodness : 0.901183 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.49 [[ 0.99984206 0.01530297 0.00903754 2.82428111] [-0.01545167 0.99974248 0.01661973 -0.03019328] [-0.00878088 -0.01675675 0.99982104 -0.49313735] [ 0. 0. 0. 1. ]] SLAMing on 29.52719347 meters Centerline goodness : 0.902356 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.49 [[ 0.99987199 0.01374175 0.00819524 2.82699819] [-0.0138649 0.99978889 0.01516392 -0.02996609] [-0.00798513 -0.0152756 0.99985144 -0.49449362] [ 0. 0. 0. 1. ]] SLAMing on 29.557193469999998 meters Centerline goodness : 0.903890 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:-0.49 [[ 0.99995055 0.00649623 0.00752977 2.84615987] [-0.00669411 0.99962483 0.02655896 -0.03114568] [-0.00735442 -0.02660805 0.99961889 -0.49376828] [ 0. 0. 0. 1. ]] SLAMing on 29.58719347 meters Centerline goodness : 0.903763 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:-0.49 [[ 0.99995811 0.00596975 0.00693795 2.84779763] [-0.00614562 0.99965311 0.02561051 -0.02908308] [-0.00678265 -0.02565207 0.99964792 -0.49455203] [ 0. 0. 0. 1. ]] SLAMing on 29.61719347 meters Centerline goodness : 0.904534 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.03, Z:-0.50 [[ 0.99996571 0.00528229 0.00637815 2.84972185] [-0.00543561 0.99969079 0.02426459 -0.02556469] [-0.00624801 -0.02429842 0.99968522 -0.49567586] [ 0. 0. 0. 1. ]] SLAMing on 29.64719347 meters Centerline goodness : 0.900390 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.50 [[ 0.99997202 0.0044629 0.00600415 2.85057045] [-0.00459295 0.9997513 0.02182283 -0.01879577] [-0.00590526 -0.0218498 0.99974382 -0.49585366] [ 0. 0. 0. 1. ]] SLAMing on 29.67719347 meters Centerline goodness : 0.901889 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.02, Z:-0.49 [[ 0.99997583 0.00367764 0.00590067 2.84977457] [-0.00379628 0.9997883 0.02022239 -0.01549307] [-0.00582505 -0.0202443 0.99977809 -0.49440849] [ 0. 0. 0. 1. ]] SLAMing on 29.70719347 meters Centerline goodness : 0.910486 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.01, Z:-0.49 [[ 9.99979481e-01 2.66098384e-03 5.82722118e-03 2.84896880e+00] [-2.76697042e-03 9.99829511e-01 1.82562961e-02 -1.14703848e-02] [-5.77764799e-03 -1.82720452e-02 9.99816359e-01 -4.92898060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73719347 meters Centerline goodness : 0.908409 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.49 [[ 9.99942176e-01 1.07092996e-03 1.07003241e-02 2.86385233e+00] [-1.24767718e-03 9.99862676e-01 1.65249328e-02 -6.87568446e-03] [-1.06811577e-02 -1.65373279e-02 9.99806196e-01 -4.91193770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76719347 meters Centerline goodness : 0.908514 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.49 [[ 9.99947419e-01 -1.29370657e-03 1.01727961e-02 2.86512656e+00] [ 1.16428670e-03 9.99918448e-01 1.27177997e-02 2.89718365e-03] [-1.01884196e-02 -1.27052869e-02 9.99867377e-01 -4.91556660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79719347 meters Centerline goodness : 0.906553 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.49 [[ 9.99951004e-01 -2.29984707e-03 9.62812671e-03 2.86707853e+00] [ 2.19459104e-03 9.99937874e-01 1.09284688e-02 7.61523406e-03] [-9.65266236e-03 -1.09068035e-02 9.99893928e-01 -4.92787865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82719347 meters Centerline goodness : 0.903497 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.50 [[ 9.99957847e-01 -1.40408341e-03 9.07371143e-03 2.86960550e+00] [ 1.30331853e-03 9.99937527e-01 1.11015325e-02 1.39938850e-02] [-9.08873204e-03 -1.10892386e-02 9.99897207e-01 -4.95020858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85719347 meters Centerline goodness : 0.905470 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.50 [[ 9.99961494e-01 -1.59008470e-03 8.63034991e-03 2.87095506e+00] [ 1.50278309e-03 9.99947736e-01 1.01127272e-02 1.70880049e-02] [-8.64597895e-03 -1.00993683e-02 9.99911621e-01 -4.95630239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88719347 meters Centerline goodness : 0.902800 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.50 [[ 9.99964152e-01 -1.87032068e-03 8.25807358e-03 2.87197806e+00] [ 1.79599614e-03 9.99957900e-01 8.99848842e-03 2.03765994e-02] [-8.27455597e-03 -8.98333438e-03 9.99925413e-01 -4.95880114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91719347 meters Centerline goodness : 0.905702 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.50 [[ 9.99968116e-01 -1.91312401e-03 7.75280547e-03 2.87337527e+00] [ 1.85111703e-03 9.99966308e-01 7.99730333e-03 2.40861278e-02] [-7.76784409e-03 -7.98269699e-03 9.99937967e-01 -4.96354658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94719347 meters Centerline goodness : 0.903084 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.50 [[ 9.99972770e-01 1.52253478e-05 7.37969235e-03 2.87433260e+00] [-7.90468444e-05 9.99962602e-01 8.64804527e-03 3.26709393e-02] [-7.37928469e-03 -8.64839312e-03 9.99935374e-01 -4.96544805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97719347 meters Centerline goodness : 0.903533 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.50 [[ 9.99976029e-01 -4.48302673e-04 6.90938665e-03 2.87534732e+00] [ 3.98515570e-04 9.99973961e-01 7.20541279e-03 3.75377646e-02] [-6.91243694e-03 -7.20248658e-03 9.99950170e-01 -4.96470055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00719347 meters Centerline goodness : 0.902228 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.50 [[ 9.99978217e-01 -5.88591541e-04 6.57414607e-03 2.87621133e+00] [ 5.47622221e-04 9.99980431e-01 6.23194712e-03 4.10436052e-02] [-6.57768549e-03 -6.22821122e-03 9.99958971e-01 -4.96640705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03719347 meters Centerline goodness : 0.899996 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-0.50 [[ 9.99981727e-01 -6.56329252e-04 6.00961388e-03 2.87829437e+00] [ 6.22752637e-04 9.99984197e-01 5.58731794e-03 4.36845789e-02] [-6.01318603e-03 -5.58347334e-03 9.99966333e-01 -4.97801053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06719347 meters Centerline goodness : 0.900837 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-0.50 [[ 9.99984181e-01 -9.64280771e-04 5.54141709e-03 2.88005430e+00] [ 9.37980900e-04 9.99988294e-01 4.74669579e-03 4.62216660e-02] [-5.54592937e-03 -4.74142296e-03 9.99973380e-01 -4.98847853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09719347 meters Centerline goodness : 0.900241 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-0.50 [[ 9.99984361e-01 -1.70677030e-03 5.32577379e-03 2.88066194e+00] [ 1.68989130e-03 9.99993541e-01 3.17219726e-03 5.17948829e-02] [-5.33115360e-03 -3.16314768e-03 9.99980786e-01 -4.98959408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127193469999998 meters Centerline goodness : 0.900220 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-0.50 [[ 9.99985307e-01 -2.17849825e-03 4.96381622e-03 2.88157336e+00] [ 2.16746352e-03 9.99995171e-01 2.22733095e-03 5.50983633e-02] [-4.96864448e-03 -2.21653934e-03 9.99985200e-01 -4.99022968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15719347 meters Centerline goodness : 0.899946 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-0.50 [[ 9.99988446e-01 -2.11751901e-03 4.31551129e-03 2.88283311e+00] [ 2.10906945e-03 9.99995852e-01 1.96156226e-03 6.08308902e-02] [-4.31964703e-03 -1.95243789e-03 9.99988764e-01 -4.98860254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18719347 meters Centerline goodness : 0.893205 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-0.50 [[ 9.99990379e-01 -2.13201613e-03 3.83369008e-03 2.88418582e+00] [ 2.12658015e-03 9.99996729e-01 1.42146523e-03 6.29447799e-02] [-3.83670812e-03 -1.41329891e-03 9.99991641e-01 -4.99232452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217193469999998 meters Centerline goodness : 0.898847 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:-0.50 [[ 9.99991744e-01 -2.14060065e-03 3.45383714e-03 2.88541228e+00] [ 2.13763684e-03 9.99997344e-01 8.61583603e-04 6.50298035e-02] [-3.45567228e-03 -8.54193440e-04 9.99993664e-01 -4.99718819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24719347 meters Centerline goodness : 0.893868 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:-0.50 [[ 9.99992640e-01 -2.20280104e-03 3.14115966e-03 2.88631439e+00] [ 2.20234686e-03 9.99997564e-01 1.48041914e-04 6.79407869e-02] [-3.14147811e-03 -1.41122901e-04 9.99995056e-01 -4.99872442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27719347 meters Centerline goodness : 0.897471 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.50 [[ 9.99995496e-01 -1.33066342e-04 2.99822805e-03 2.88685987e+00] [ 1.29623240e-04 9.99999332e-01 1.14854416e-03 7.56698229e-02] [-2.99837888e-03 -1.14815035e-03 9.99994846e-01 -4.99815459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307193469999998 meters Centerline goodness : 0.896701 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.50 [[ 9.99996259e-01 -6.97732303e-05 2.73454957e-03 2.88765864e+00] [ 6.91584978e-05 9.99999972e-01 2.24896029e-04 7.98943454e-02] [-2.73456519e-03 -2.24706070e-04 9.99996236e-01 -4.99913166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33719347 meters Centerline goodness : 0.892877 Centerline is valid? [False, False] Translation: X:2.89, Y:0.08, Z:-0.50 [[ 9.99996226e-01 1.78709614e-03 2.08679018e-03 2.89052429e+00] [-1.79045120e-03 9.99997106e-01 1.60700395e-03 8.26947641e-02] [-2.08391227e-03 -1.61073418e-03 9.99996531e-01 -5.01868315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36719347 meters Centerline goodness : 0.894384 Centerline is valid? [False, False] Translation: X:2.89, Y:0.09, Z:-0.50 [[ 9.99990842e-01 4.00927045e-03 1.49741982e-03 2.89316000e+00] [-4.01421685e-03 9.99986448e-01 3.31501510e-03 8.50313091e-02] [-1.48410874e-03 -3.32099570e-03 9.99993384e-01 -5.03527445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39719347 meters Centerline goodness : 0.902847 Centerline is valid? [False, False] Translation: X:2.89, Y:0.09, Z:-0.50 [[ 9.99967347e-01 7.94347559e-03 1.48554047e-03 2.89290014e+00] [-7.95105647e-03 9.99955031e-01 5.16879371e-03 9.26399585e-02] [-1.44441548e-03 -5.18043655e-03 9.99985538e-01 -5.02343815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42719347 meters Centerline goodness : 0.895595 Centerline is valid? [False, False] Translation: X:2.89, Y:0.10, Z:-0.50 [[ 9.99934782e-01 1.13453254e-02 1.30954177e-03 2.89349466e+00] [-1.13550813e-02 9.99905884e-01 7.69974663e-03 9.76214792e-02] [-1.22206239e-03 -7.71411442e-03 9.99969499e-01 -5.02286268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45719347 meters Centerline goodness : 0.894848 Centerline is valid? [False, False] Translation: X:2.89, Y:0.10, Z:-0.50 [[ 9.99888579e-01 1.48930805e-02 1.01314935e-03 2.89437141e+00] [-1.49027060e-02 9.99836213e-01 1.02692405e-02 1.02866177e-01] [-8.60042785e-04 -1.02831950e-02 9.99946757e-01 -5.02219024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48719347 meters Centerline goodness : 0.894057 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.50 [[ 9.99739606e-01 2.28059207e-02 7.81593505e-04 2.89616134e+00] [-2.28156689e-02 9.99605420e-01 1.63844507e-02 1.09364284e-01] [-4.07622621e-04 -1.63980169e-02 9.99865460e-01 -5.03237192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51719347 meters Centerline goodness : 0.889285 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.50 [[ 9.99703829e-01 2.43326747e-02 4.17682903e-04 2.89844807e+00] [-2.43362559e-02 9.99565476e-01 1.66314923e-02 1.12318727e-01] [-1.28127186e-05 -1.66367314e-02 9.99861600e-01 -5.04837982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54719347 meters Centerline goodness : 0.888531 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.51 [[ 9.99682530e-01 2.51949044e-02 2.35731752e-04 2.89980889e+00] [-2.51954111e-02 9.99550768e-01 1.62312561e-02 1.14928757e-01] [ 1.73319091e-04 -1.62320425e-02 9.99868237e-01 -5.05748462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57719347 meters Centerline goodness : 0.892595 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.51 [[ 9.99665073e-01 2.58793618e-02 -5.60009549e-07 2.90095142e+00] [-2.58760835e-02 9.99538784e-01 1.58948635e-02 1.17300807e-01] [ 4.11908675e-04 -1.58895254e-02 9.99873669e-01 -5.06363203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60719347 meters Centerline goodness : 0.887669 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.51 [[ 9.99523378e-01 3.08695434e-02 -2.95861991e-04 2.90260899e+00] [-3.08573189e-02 9.99320680e-01 2.01495317e-02 1.18657384e-01] [ 9.17667848e-04 -2.01307984e-02 9.99796934e-01 -5.07312899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63719347 meters Centerline goodness : 0.886167 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.51 [[ 9.99504822e-01 3.14560543e-02 -7.91609779e-04 2.90438179e+00] [-3.14331785e-02 9.99294815e-01 2.05384474e-02 1.18771153e-01] [ 1.43711006e-03 -2.05033944e-02 9.99788750e-01 -5.08235545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66719347 meters Centerline goodness : 0.884085 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.51 [[ 9.99591300e-01 2.85667392e-02 -1.08338021e-03 2.90525444e+00] [-2.85440927e-02 9.99446606e-01 1.70796877e-02 1.19055507e-01] [ 1.57069166e-03 -1.70417832e-02 9.99853545e-01 -5.08574127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69719347 meters Centerline goodness : 0.883198 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.51 [[ 9.99674407e-01 2.54793103e-02 -1.37266980e-03 2.90580632e+00] [-2.54577048e-02 9.99578500e-01 1.39544744e-02 1.17241112e-01] [ 1.72764161e-03 -1.39149859e-02 9.99901689e-01 -5.08505888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72719347 meters Centerline goodness : 0.889073 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.51 [[ 0.99979225 0.01988796 0.00446301 2.91786567] [-0.01996168 0.99965394 0.01713277 0.10517348] [-0.00412073 -0.0172183 0.99984326 -0.51054889] [ 0. 0. 0. 1. ]] SLAMing on 30.75719347 meters Centerline goodness : 0.890162 Centerline is valid? [False, False] Translation: X:2.93, Y:0.10, Z:-0.51 [[ 0.99984203 0.01466508 0.01004242 2.93057311] [-0.01487506 0.99966535 0.02116397 0.09821076] [-0.00972868 -0.02131001 0.99972558 -0.51435631] [ 0. 0. 0. 1. ]] SLAMing on 30.78719347 meters Centerline goodness : 0.890761 Centerline is valid? [False, False] Translation: X:2.93, Y:0.10, Z:-0.51 [[ 0.99991987 0.00829594 0.00956242 2.93183876] [-0.00843782 0.99985349 0.01489335 0.09500892] [-0.00943747 -0.01497284 0.99984336 -0.5146666 ] [ 0. 0. 0. 1. ]] SLAMing on 30.81719347 meters Centerline goodness : 0.891408 Centerline is valid? [False, False] Translation: X:2.95, Y:0.08, Z:-0.52 [[ 0.99992929 0.00313496 0.01147089 2.95107351] [-0.00334106 0.99983254 0.01799263 0.08391574] [-0.01141256 -0.01802969 0.99977232 -0.51847785] [ 0. 0. 0. 1. ]] SLAMing on 30.84719347 meters Centerline goodness : 0.888498 Centerline is valid? [False, False] Translation: X:2.95, Y:0.08, Z:-0.52 [[ 9.99940304e-01 2.79927067e-04 1.09229101e-02 2.95303383e+00] [-4.55528151e-04 9.99870649e-01 1.60772264e-02 7.89407472e-02] [-1.09169967e-02 -1.60812424e-02 9.99811089e-01 -5.19510286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877193469999998 meters Centerline goodness : 0.887422 Centerline is valid? [False, False] Translation: X:2.95, Y:0.07, Z:-0.52 [[ 9.99939611e-01 -3.09018714e-03 1.05463741e-02 2.95425330e+00] [ 2.94555469e-03 9.99901784e-01 1.37020388e-02 7.32533916e-02] [-1.05876802e-02 -1.36701464e-02 9.99850503e-01 -5.20019585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90719347 meters Centerline goodness : 0.885208 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.52 [[ 0.9998825 -0.0081895 0.01295796 2.97324255] [ 0.00797484 0.99983155 0.01653121 0.05802069] [-0.01309116 -0.01642593 0.99977938 -0.5240121 ] [ 0. 0. 0. 1. ]] SLAMing on 30.93719347 meters Centerline goodness : 0.886018 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.52 [[ 0.99985621 -0.01129998 0.01264378 2.97426173] [ 0.01112159 0.99983885 0.01409177 0.05438449] [-0.01280098 -0.01394912 0.99982076 -0.52418585] [ 0. 0. 0. 1. ]] SLAMing on 30.967193469999998 meters Centerline goodness : 0.883771 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:-0.52 [[ 0.99982057 -0.01469516 0.01195329 2.97602237] [ 0.01454203 0.99981235 0.01279793 0.04783087] [-0.01213911 -0.0126218 0.99984665 -0.52437732] [ 0. 0. 0. 1. ]] SLAMing on 30.99719347 meters Centerline goodness : 0.883626 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.53 [[ 0.9997834 -0.01748012 0.01129639 2.97836516] [ 0.0173596 0.99979227 0.0106803 0.04423254] [-0.01148074 -0.01048189 0.99987915 -0.52551003] [ 0. 0. 0. 1. ]] SLAMing on 31.02719347 meters Centerline goodness : 0.881229 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.53 [[ 0.99973101 -0.0205255 0.01079874 2.98014708] [ 0.0204351 0.99975575 0.00841656 0.04030774] [-0.01096886 -0.00819363 0.99990627 -0.52617004] [ 0. 0. 0. 1. ]] SLAMing on 31.057193469999998 meters Centerline goodness : 0.881813 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.53 [[ 0.99966147 -0.02381225 0.01048477 2.98101156] [ 0.02375248 0.99970111 0.00578821 0.03672294] [-0.01061946 -0.00553721 0.99992828 -0.52595386] [ 0. 0. 0. 1. ]] SLAMing on 31.08719347 meters Centerline goodness : 0.882929 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99947849 -0.03023403 0.01134278 3.00647326] [ 0.0298479 0.9990164 0.03279235 0.02383156] [-0.01232307 -0.03243669 0.99939782 -0.52291995] [ 0. 0. 0. 1. ]] SLAMing on 31.11719347 meters Centerline goodness : 0.885805 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99938029 -0.0333649 0.01121688 3.00649222] [ 0.03301449 0.99900169 0.03009415 0.02244252] [-0.01220977 -0.02970518 0.99948413 -0.52183519] [ 0. 0. 0. 1. ]] SLAMing on 31.14719347 meters Centerline goodness : 0.879155 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99924657 -0.03710743 0.01137264 3.00591937] [ 0.03679839 0.99897724 0.02627468 0.0223446 ] [-0.01233599 -0.02583639 0.99959007 -0.52076406] [ 0. 0. 0. 1. ]] SLAMing on 31.17719347 meters Centerline goodness : 0.881275 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99913879 -0.03997511 0.01112103 3.00620114] [ 0.03969021 0.99890529 0.02475688 0.018648 ] [-0.01209852 -0.02429417 0.99963164 -0.51920952] [ 0. 0. 0. 1. ]] SLAMing on 31.20719347 meters Centerline goodness : 0.879966 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99901529 -0.04292141 0.01123388 3.0060351 ] [ 0.04267082 0.99885418 0.02166881 0.01807197] [-0.01215106 -0.02116811 0.99970209 -0.51864361] [ 0. 0. 0. 1. ]] SLAMing on 31.23719347 meters Centerline goodness : 0.879076 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99900517 -0.04320955 0.01102777 3.00604507] [ 0.04295362 0.99882423 0.02247541 0.01590081] [-0.01198596 -0.02197936 0.99968657 -0.51746096] [ 0. 0. 0. 1. ]] SLAMing on 31.26719347 meters Centerline goodness : 0.882348 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 0.99884427 -0.04681445 0.01088681 3.00638615] [ 0.0466022 0.99873292 0.0189947 0.01557908] [-0.01176224 -0.0184654 0.99976031 -0.51685755] [ 0. 0. 0. 1. ]] SLAMing on 31.29719347 meters Centerline goodness : 0.881717 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.52 [[ 0.99866308 -0.05063892 0.01038027 3.00830681] [ 0.05047296 0.99860248 0.01567075 0.01457999] [-0.01115932 -0.01512588 0.99982332 -0.51751489] [ 0. 0. 0. 1. ]] SLAMing on 31.32719347 meters Centerline goodness : 0.881661 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.52 [[ 0.99850475 -0.05384224 0.00944838 3.01195863] [ 0.0537168 0.99847077 0.01306215 0.01301912] [-0.01013722 -0.01253508 0.99987005 -0.51944227] [ 0. 0. 0. 1. ]] SLAMing on 31.35719347 meters Centerline goodness : 0.876347 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99814451 -0.06033817 0.0081762 3.01762702] [ 0.06027992 0.9981556 0.00719277 0.01137225] [-0.00859512 -0.00668656 0.99994071 -0.52308367] [ 0. 0. 0. 1. ]] SLAMing on 31.38719347 meters Centerline goodness : 0.876980 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99797029 -0.06321529 0.00768938 3.02030702] [ 0.06318115 0.99799145 0.00460492 0.01050072] [-0.00796504 -0.00410974 0.99995983 -0.52475235] [ 0. 0. 0. 1. ]] SLAMing on 31.41719347 meters Centerline goodness : 0.876980 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99797029 -0.06321529 0.00768938 3.02030702] [ 0.06318115 0.99799145 0.00460492 0.01050072] [-0.00796504 -0.00410974 0.99995983 -0.52475235] [ 0. 0. 0. 1. ]] SLAMing on 31.44719347 meters Centerline goodness : 0.873674 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99795316 -0.0635477 0.00715401 3.02111634] [ 0.06350928 0.99796623 0.00547531 0.00824139] [-0.0074874 -0.00500976 0.99995942 -0.52400841] [ 0. 0. 0. 1. ]] SLAMing on 31.47719347 meters Centerline goodness : 0.879604 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 9.97699482e-01 -6.74057739e-02 7.22536335e-03 3.02043797e+00] [ 6.73955671e-02 9.97724974e-01 1.64721489e-03 8.54637063e-03] [-7.31995726e-03 -1.15646798e-03 9.99972540e-01 -5.22200085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50719347 meters Centerline goodness : 0.876844 Centerline is valid? [False, False] Translation: X:3.02, Y:0.01, Z:-0.52 [[ 0.99790813 -0.06433757 0.00632749 3.02154437] [ 0.06430235 0.99791463 0.00562146 0.00805658] [-0.00667596 -0.00520282 0.99996418 -0.52190704] [ 0. 0. 0. 1. ]] SLAMing on 31.53719347 meters Centerline goodness : 0.878748 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:-0.52 [[ 9.98409822e-01 -5.63651360e-02 8.94227819e-04 3.00980479e+00] [ 5.63598074e-02 9.98397216e-01 5.15480123e-03 1.41612854e-02] [-1.18334564e-03 -5.09620567e-03 9.99986314e-01 -5.16506990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56719347 meters Centerline goodness : 0.878628 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 9.98607995e-01 -5.27443601e-02 3.24628771e-04 3.01022557e+00] [ 5.27397991e-02 9.98573180e-01 8.37364569e-03 1.65599684e-02] [-7.65828168e-04 -8.34486868e-03 9.99964888e-01 -5.16256337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59719347 meters Centerline goodness : 0.880292 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 9.98776778e-01 -4.94464036e-02 4.28437476e-05 3.00999471e+00] [ 4.94428093e-02 9.98713900e-01 1.12229788e-02 1.83945935e-02] [-5.97724584e-04 -1.12071322e-02 9.99937019e-01 -5.15765420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627193469999998 meters Centerline goodness : 0.876837 Centerline is valid? [False, False] Translation: X:3.01, Y:0.02, Z:-0.52 [[ 9.98784458e-01 -4.92909522e-02 9.18790845e-05 3.00997728e+00] [ 4.92876322e-02 9.98735625e-01 9.89341871e-03 2.14857245e-02] [-5.79418944e-04 -9.87686434e-03 9.99951055e-01 -5.16332659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65719347 meters Centerline goodness : 0.880123 Centerline is valid? [False, False] Translation: X:3.01, Y:0.03, Z:-0.52 [[ 9.98903602e-01 -4.68141229e-02 -1.80443472e-04 3.01047216e+00] [ 4.68136482e-02 9.98855785e-01 9.77763897e-03 3.00836229e-02] [-2.77494586e-04 -9.77536600e-03 9.99952181e-01 -5.17825320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68719347 meters Centerline goodness : 0.881387 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.52 [[ 9.99007528e-01 -4.45309642e-02 -9.75914813e-04 3.01216688e+00] [ 4.45389785e-02 9.98947923e-01 1.09237085e-02 3.63480022e-02] [ 4.88444803e-04 -1.09563332e-02 9.99939858e-01 -5.19139965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717193469999998 meters Centerline goodness : 0.876686 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.52 [[ 9.99118718e-01 -4.19249862e-02 -2.02058964e-03 3.01413916e+00] [ 4.19478999e-02 9.99034100e-01 1.30858629e-02 4.12020099e-02] [ 1.47001333e-03 -1.31590901e-02 9.99912335e-01 -5.19973005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74719347 meters Centerline goodness : 0.879274 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:-0.52 [[ 9.99034415e-01 -4.38592623e-02 -2.56962824e-03 3.01503587e+00] [ 4.38817045e-02 9.98992056e-01 9.44817053e-03 4.86127693e-02] [ 2.15264841e-03 -9.55180718e-03 9.99952063e-01 -5.20512971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77719347 meters Centerline goodness : 0.877742 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:-0.52 [[ 9.98989606e-01 -4.48284326e-02 -3.19048433e-03 3.01650474e+00] [ 4.48544234e-02 9.98956486e-01 8.60349248e-03 4.98374634e-02] [ 2.80147393e-03 -8.73790690e-03 9.99957899e-01 -5.20969936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807193469999998 meters Centerline goodness : 0.875343 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:-0.52 [[ 0.99893059 -0.04605329 -0.00409567 3.01860081] [ 0.04608384 0.99890785 0.00770658 0.05114342] [ 0.00373629 -0.00788708 0.99996192 -0.52150545] [ 0. 0. 0. 1. ]] SLAMing on 31.83719347 meters Centerline goodness : 0.878165 Centerline is valid? [False, False] Translation: X:3.02, Y:0.06, Z:-0.52 [[ 0.99881036 -0.04845482 -0.00547713 3.02116956] [ 0.04848019 0.99881356 0.00459732 0.05888111] [ 0.00524787 -0.00485738 0.99997443 -0.52191665] [ 0. 0. 0. 1. ]] SLAMing on 31.86719347 meters Centerline goodness : 0.877786 Centerline is valid? [False, False] Translation: X:3.02, Y:0.06, Z:-0.52 [[ 0.99892905 -0.04577876 -0.00671236 3.0227998 ] [ 0.04582846 0.99892157 0.00744664 0.06227287] [ 0.00636422 -0.00774628 0.99994974 -0.52148614] [ 0. 0. 0. 1. ]] SLAMing on 31.89719347 meters Centerline goodness : 0.876922 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:-0.52 [[ 0.99905187 -0.04292229 -0.0072821 3.02311974] [ 0.04299363 0.99902589 0.00994047 0.0656226 ] [ 0.00684834 -0.01024413 0.99992408 -0.52102022] [ 0. 0. 0. 1. ]] SLAMing on 31.92719347 meters Centerline goodness : 0.876052 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:-0.52 [[ 0.99906053 -0.04270293 -0.00738305 3.02313081] [ 0.0427654 0.9990488 0.00852153 0.06981431] [ 0.00701213 -0.00882926 0.99993644 -0.52132804] [ 0. 0. 0. 1. ]] SLAMing on 31.95719347 meters Centerline goodness : 0.879203 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:-0.52 [[ 0.99918964 -0.03951521 -0.00765599 3.0226526 ] [ 0.03959317 0.99916264 0.01031468 0.07348818] [ 0.00724199 -0.01060944 0.99991749 -0.52073306] [ 0. 0. 0. 1. ]] SLAMing on 31.98719347 meters Centerline goodness : 0.877317 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:-0.52 [[ 0.99916865 -0.0400623 -0.00755081 3.02182621] [ 0.04012325 0.9991619 0.00810028 0.07914318] [ 0.00721997 -0.00839651 0.99993868 -0.52042966] [ 0. 0. 0. 1. ]] SLAMing on 32.017193469999995 meters Centerline goodness : 0.879379 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:-0.52 [[ 0.99925133 -0.03764203 -0.00893661 3.02353546] [ 0.03773673 0.99923068 0.01067615 0.08437987] [ 0.00852787 -0.0110054 0.99990307 -0.51962545] [ 0. 0. 0. 1. ]] SLAMing on 32.047193469999996 meters Centerline goodness : 0.882037 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.52 [[ 0.99927687 -0.03645417 -0.01080864 3.02346623] [ 0.03659294 0.99924658 0.01293207 0.09665674] [ 0.01032907 -0.01331824 0.99985796 -0.5154485 ] [ 0. 0. 0. 1. ]] SLAMing on 32.07719347 meters Centerline goodness : 0.878124 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.52 [[ 0.99923797 -0.03729869 -0.01150123 3.02452701] [ 0.03742889 0.99923516 0.01132153 0.10144411] [ 0.01107015 -0.01174338 0.99986976 -0.51550326] [ 0. 0. 0. 1. ]] SLAMing on 32.10719347 meters Centerline goodness : 0.876278 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.52 [[ 0.99924336 -0.03699087 -0.01201564 3.02666379] [ 0.03712382 0.99924972 0.01103678 0.10365758] [ 0.01159836 -0.0114745 0.9998669 -0.51711842] [ 0. 0. 0. 1. ]] SLAMing on 32.13719346999999 meters Centerline goodness : 0.881201 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.52 [[ 0.9992017 -0.03790844 -0.01260574 3.02994411] [ 0.03802774 0.99923281 0.00936335 0.10677339] [ 0.01224111 -0.00983525 0.9998767 -0.51987569] [ 0. 0. 0. 1. ]] SLAMing on 32.167193469999994 meters Centerline goodness : 0.877531 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.52 [[ 0.99926349 -0.03636663 -0.01224525 3.02999268] [ 0.03648605 0.99928733 0.0096744 0.11529596] [ 0.0118847 -0.01011405 0.99987822 -0.52104619] [ 0. 0. 0. 1. ]] SLAMing on 32.197193469999995 meters Centerline goodness : 0.876836 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.52 [[ 0.99937439 -0.0330272 -0.01265015 3.03107606] [ 0.03318027 0.99937628 0.01208777 0.12060988] [ 0.01224304 -0.01249994 0.99984692 -0.52185602] [ 0. 0. 0. 1. ]] SLAMing on 32.227193469999996 meters Centerline goodness : 0.878970 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.52 [[ 0.99946392 -0.03001658 -0.01307198 3.03259936] [ 0.03019876 0.99944629 0.01396981 0.12713871] [ 0.01264542 -0.01435708 0.99981697 -0.52296879] [ 0. 0. 0. 1. ]] SLAMing on 32.25719347 meters Centerline goodness : 0.879855 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:-0.52 [[ 0.99964567 -0.02290985 -0.01355241 3.03418271] [ 0.02316265 0.99955492 0.01880048 0.13933612] [ 0.01311566 -0.01910773 0.9997314 -0.52430366] [ 0. 0. 0. 1. ]] SLAMing on 32.28719347 meters Centerline goodness : 0.882733 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:-0.52 [[ 0.99971356 -0.01960559 -0.01372681 3.03416153] [ 0.01989052 0.99958289 0.02093844 0.14464496] [ 0.01331058 -0.02120548 0.99968653 -0.52398566] [ 0. 0. 0. 1. ]] SLAMing on 32.31719347 meters Centerline goodness : 0.883795 Centerline is valid? [False, False] Translation: X:3.03, Y:0.15, Z:-0.52 [[ 0.9997136 -0.01945642 -0.01393407 3.03450375] [ 0.01972393 0.99961867 0.01932579 0.15103246] [ 0.01355274 -0.01959509 0.99971614 -0.52357652] [ 0. 0. 0. 1. ]] SLAMing on 32.34719346999999 meters Centerline goodness : 0.885196 Centerline is valid? [False, False] Translation: X:3.04, Y:0.16, Z:-0.52 [[ 0.99971285 -0.01923309 -0.0142938 3.03527653] [ 0.01948922 0.99964799 0.0180016 0.15630143] [ 0.01394254 -0.01827501 0.99973578 -0.52346942] [ 0. 0. 0. 1. ]] SLAMing on 32.377193469999995 meters Centerline goodness : 0.886764 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.52 [[ 0.99987824 -0.0129833 -0.00865714 3.03315576] [ 0.0130541 0.99988139 0.00817258 0.16523079] [ 0.00855001 -0.0082846 0.99992913 -0.52281311] [ 0. 0. 0. 1. ]] SLAMing on 32.407193469999996 meters Centerline goodness : 0.890155 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.52 [[ 0.99987744 -0.01281574 -0.00899204 3.03376884] [ 0.01288057 0.99989119 0.00718993 0.16961816] [ 0.00889891 -0.00730487 0.99993372 -0.52255886] [ 0. 0. 0. 1. ]] SLAMing on 32.43719347 meters Centerline goodness : 0.897178 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.52 [[ 0.99987766 -0.01263488 -0.00922125 3.03408648] [ 0.01269397 0.99989908 0.00637861 0.17409388] [ 0.00913973 -0.00649488 0.99993714 -0.52209381] [ 0. 0. 0. 1. ]] SLAMing on 32.46719347 meters Centerline goodness : 0.897180 Centerline is valid? [False, False] Translation: X:3.03, Y:0.18, Z:-0.52 [[ 0.99991715 -0.00910257 -0.00910097 3.03364705] [ 0.00918228 0.99991951 0.00875578 0.18030805] [ 0.00902053 -0.00883862 0.99992025 -0.52173079] [ 0. 0. 0. 1. ]] SLAMing on 32.49719347 meters Centerline goodness : 0.896461 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.52 [[ 0.99992263 -0.00754491 -0.00988968 3.03722011] [ 0.00764116 0.99992346 0.00973091 0.18167023] [ 0.0098155 -0.00980573 0.99990375 -0.52430573] [ 0. 0. 0. 1. ]] SLAMing on 32.52719346999999 meters Centerline goodness : 0.897803 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 0.99992626 -0.00636132 -0.01034461 3.03964899] [ 0.0064675 0.99992641 0.01026364 0.18225253] [ 0.01027856 -0.01032978 0.99989382 -0.52629873] [ 0. 0. 0. 1. ]] SLAMing on 32.557193469999994 meters Centerline goodness : 0.889483 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 0.99992986 -0.00494543 -0.01076228 3.04231865] [ 0.00506456 0.9999259 0.01106978 0.18256789] [ 0.01070674 -0.01112351 0.99988081 -0.52854772] [ 0. 0. 0. 1. ]] SLAMing on 32.587193469999995 meters Centerline goodness : 0.890883 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99942622e-01 3.14893746e-04 -1.07076606e-02 3.04294491e+00] [-1.46289792e-04 9.99876057e-01 1.57432445e-02 1.82018818e-01] [ 1.07112909e-02 -1.57407747e-02 9.99818732e-01 -5.29203900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61719347 meters Centerline goodness : 0.901776 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99939870e-01 8.52841450e-04 -1.09329013e-02 3.04291106e+00] [-6.80475162e-04 9.99875574e-01 1.57598687e-02 1.82732896e-01] [ 1.09449816e-02 -1.57514815e-02 9.99816032e-01 -5.28353120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64719347 meters Centerline goodness : 0.898373 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99938292e-01 1.04217447e-03 -1.10601181e-02 3.04244449e+00] [-8.68317749e-04 9.99876175e-01 1.57124234e-02 1.82853093e-01] [ 1.10751237e-02 -1.57018501e-02 9.99815380e-01 -5.27128993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67719347 meters Centerline goodness : 0.896048 Centerline is valid? [False, False] Translation: X:3.04, Y:0.18, Z:-0.53 [[ 9.99933954e-01 -1.60621585e-03 -1.13801120e-02 3.04279781e+00] [ 1.74989412e-03 9.99918749e-01 1.26266950e-02 1.82880663e-01] [ 1.13589062e-02 -1.26457751e-02 9.99855519e-01 -5.26353833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70719346999999 meters Centerline goodness : 0.896659 Centerline is valid? [False, False] Translation: X:3.05, Y:0.18, Z:-0.53 [[ 9.99993369e-01 -2.18604782e-03 -2.91253030e-03 3.04937441e+00] [ 2.20665345e-03 9.99972427e-01 7.09049062e-03 1.76656668e-01] [ 2.89694984e-03 -7.09687054e-03 9.99970621e-01 -5.28803872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737193469999994 meters Centerline goodness : 0.899977 Centerline is valid? [False, False] Translation: X:3.05, Y:0.17, Z:-0.53 [[ 9.99992801e-01 -2.16970951e-03 -3.11301394e-03 3.05017596e+00] [ 2.19621590e-03 9.99961150e-01 8.53670383e-03 1.71288227e-01] [ 3.09437083e-03 -8.54347922e-03 9.99958716e-01 -5.29533954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767193469999995 meters Centerline goodness : 0.892013 Centerline is valid? [False, False] Translation: X:3.05, Y:0.17, Z:-0.53 [[ 0.99998133 -0.00487871 -0.00367864 3.05269219] [ 0.00490254 0.99996688 0.00649659 0.16754631] [ 0.00364682 -0.0065145 0.99997213 -0.53136928] [ 0. 0. 0. 1. ]] SLAMing on 32.797193469999996 meters Centerline goodness : 0.892174 Centerline is valid? [False, False] Translation: X:3.06, Y:0.16, Z:-0.53 [[ 0.99996969 -0.0064101 -0.00441874 3.05653636] [ 0.00643757 0.99995988 0.00622933 0.15993311] [ 0.00437863 -0.00625759 0.99997083 -0.53460142] [ 0. 0. 0. 1. ]] SLAMing on 32.82719347 meters Centerline goodness : 0.888682 Centerline is valid? [False, False] Translation: X:3.06, Y:0.16, Z:-0.54 [[ 0.99997528 -0.0051673 -0.00476902 3.05814228] [ 0.00520554 0.99995412 0.0080408 0.15612222] [ 0.00472726 -0.00806542 0.9999563 -0.5358512 ] [ 0. 0. 0. 1. ]] SLAMing on 32.85719347 meters Centerline goodness : 0.890189 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.54 [[ 0.99997727 -0.00439097 -0.00511744 3.05934371] [ 0.00443868 0.99994645 0.00934845 0.15245945] [ 0.00507611 -0.00937096 0.99994321 -0.53659517] [ 0. 0. 0. 1. ]] SLAMing on 32.88719346999999 meters Centerline goodness : 0.889450 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.54 [[ 0.99996656 -0.00577574 -0.00578924 3.06230749] [ 0.00582283 0.99994984 0.00814992 0.1491953 ] [ 0.00574188 -0.00818335 0.99995003 -0.53854257] [ 0. 0. 0. 1. ]] SLAMing on 32.917193469999994 meters Centerline goodness : 0.886376 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.54 [[ 0.99995029 -0.0074507 -0.00662655 3.065436 ] [ 0.00750243 0.99994132 0.00781501 0.14138957] [ 0.00656793 -0.00786433 0.99994751 -0.54052053] [ 0. 0. 0. 1. ]] SLAMing on 32.947193469999995 meters Centerline goodness : 0.883709 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.54 [[ 0.99995087 -0.00703515 -0.00698367 3.06639583] [ 0.00709889 0.99993299 0.00914451 0.13775649] [ 0.00691887 -0.00919364 0.9999338 -0.54094467] [ 0. 0. 0. 1. ]] SLAMing on 32.977193469999996 meters Centerline goodness : 0.885516 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.54 [[ 0.99992369 -0.00998694 -0.00727123 3.0671019 ] [ 0.01003374 0.999929 0.00642874 0.1359054 ] [ 0.00720651 -0.0065012 0.9999529 -0.54082532] [ 0. 0. 0. 1. ]] SLAMing on 33.00719347 meters Centerline goodness : 0.884560 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.54 [[ 0.99992588 -0.00962203 -0.0074594 3.06733795] [ 0.00968147 0.99992134 0.00797419 0.1303275 ] [ 0.00738208 -0.00804582 0.99994038 -0.54066215] [ 0. 0. 0. 1. ]] SLAMing on 33.03719347 meters Centerline goodness : 0.887688 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.54 [[ 0.99986492 -0.01414982 -0.00836171 3.07031113] [ 0.0141836 0.99989143 0.00399426 0.11984442] [ 0.00830428 -0.00411232 0.99995706 -0.5415393 ] [ 0. 0. 0. 1. ]] SLAMing on 33.06719347 meters Centerline goodness : 0.887224 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.54 [[ 9.99829853e-01 -1.61050013e-02 -8.99413142e-03 3.07359573e+00] [ 1.61281797e-02 9.99866781e-01 2.51050135e-03 1.15592189e-01] [ 8.95250160e-03 -2.65513316e-03 9.99956401e-01 -5.44066841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09719346999999 meters Centerline goodness : 0.882110 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.55 [[ 9.99815996e-01 -1.65150654e-02 -9.75841818e-03 3.07760547e+00] [ 1.65423512e-02 9.99859461e-01 2.72205380e-03 1.12230724e-01] [ 9.71209184e-03 -2.88298011e-03 9.99948681e-01 -5.47213465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127193469999995 meters Centerline goodness : 0.880290 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.55 [[ 0.99984106 -0.01453049 -0.01033064 3.08017427] [ 0.01458978 0.99987739 0.00568719 0.10696414] [ 0.01024674 -0.00583701 0.99993046 -0.54907376] [ 0. 0. 0. 1. ]] SLAMing on 33.157193469999996 meters Centerline goodness : 0.878006 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.55 [[ 0.99985153 -0.0135013 -0.01070655 3.08118597] [ 0.01357879 0.99988189 0.00719848 0.10346785] [ 0.0106081 -0.00734279 0.99991677 -0.54940041] [ 0. 0. 0. 1. ]] SLAMing on 33.18719347 meters Centerline goodness : 0.876672 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.55 [[ 0.99986211 -0.01252348 -0.01090496 3.08176363] [ 0.01262141 0.99988021 0.0089588 0.09843799] [ 0.01079146 -0.0090952 0.99990041 -0.54956456] [ 0. 0. 0. 1. ]] SLAMing on 33.21719347 meters Centerline goodness : 0.876683 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:-0.55 [[ 0.99982881 -0.01469743 -0.01123969 3.08315607] [ 0.01477722 0.99986597 0.00704882 0.09430589] [ 0.01113458 -0.0072137 0.99991199 -0.55017207] [ 0. 0. 0. 1. ]] SLAMing on 33.24719347 meters Centerline goodness : 0.876801 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:-0.55 [[ 0.99980655 -0.01823931 -0.00736179 3.0991248 ] [ 0.01832935 0.99975567 0.01235451 0.08293638] [ 0.00713466 -0.01248706 0.99989658 -0.553215 ] [ 0. 0. 0. 1. ]] SLAMing on 33.27719346999999 meters Centerline goodness : 0.875213 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:-0.55 [[ 0.99972694 -0.02213824 -0.00748019 3.09941917] [ 0.02221239 0.99970347 0.00997922 0.07789493] [ 0.00725704 -0.01014265 0.99992223 -0.55275526] [ 0. 0. 0. 1. ]] SLAMing on 33.307193469999994 meters Centerline goodness : 0.875213 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:-0.55 [[ 0.99972694 -0.02213824 -0.00748019 3.09941917] [ 0.02221239 0.99970347 0.00997922 0.07789493] [ 0.00725704 -0.01014265 0.99992223 -0.55275526] [ 0. 0. 0. 1. ]] SLAMing on 33.337193469999995 meters Centerline goodness : 0.871182 Centerline is valid? [False, False] Translation: X:3.11, Y:0.07, Z:-0.56 [[ 9.99594846e-01 -2.83611639e-02 -2.40581179e-03 3.11248849e+00] [ 2.83914982e-02 9.99503214e-01 1.36838656e-02 7.06800526e-02] [ 2.01652626e-03 -1.37466262e-02 9.99903477e-01 -5.55852731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36719347 meters Centerline goodness : 0.871590 Centerline is valid? [False, False] Translation: X:3.15, Y:0.05, Z:-0.56 [[ 0.99888469 -0.04705388 0.00391292 3.14646832] [ 0.04674974 0.99723372 0.05778732 0.04660014] [-0.00662121 -0.05753994 0.99832125 -0.55674302] [ 0. 0. 0. 1. ]] SLAMing on 33.39719347 meters Centerline goodness : 0.871900 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99852036 -0.05423535 0.00395066 3.14580222] [ 0.05395546 0.99717449 0.05226714 0.0437913 ] [-0.00677423 -0.05197664 0.99862532 -0.55392027] [ 0. 0. 0. 1. ]] SLAMing on 33.42719347 meters Centerline goodness : 0.872364 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99810834 -0.06133568 0.00420408 3.14523178] [ 0.06107849 0.99707391 0.04596784 0.04241668] [-0.00701125 -0.04562411 0.99893407 -0.55210817] [ 0. 0. 0. 1. ]] SLAMing on 33.45719346999999 meters Centerline goodness : 0.867192 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99732663 -0.07291864 0.0047391 3.14520483] [ 0.07270598 0.99672278 0.03546182 0.03980156] [-0.00730939 -0.03502245 0.9993598 -0.55057628] [ 0. 0. 0. 1. ]] SLAMing on 33.487193469999994 meters Centerline goodness : 0.870059 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99702272 -0.07694265 0.00505232 3.14535156] [ 0.07674846 0.99655991 0.03127322 0.03987518] [-0.00744118 -0.03079235 0.9994981 -0.55070246] [ 0. 0. 0. 1. ]] SLAMing on 33.517193469999995 meters Centerline goodness : 0.866048 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.99678761 -0.0799089 0.00538856 3.14552338] [ 0.07973355 0.996442 0.02731121 0.04149703] [-0.00755179 -0.02679383 0.99961246 -0.55134216] [ 0. 0. 0. 1. ]] SLAMing on 33.547193469999996 meters Centerline goodness : 0.864868 Centerline is valid? [False, False] Translation: X:3.15, Y:0.04, Z:-0.55 [[ 0.9968129 -0.07963092 0.004792 3.14765344] [ 0.07947408 0.99647219 0.02696384 0.04286346] [-0.00692225 -0.02649706 0.99962492 -0.55310963] [ 0. 0. 0. 1. ]] SLAMing on 33.57719347 meters Centerline goodness : 0.862878 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:-0.55 [[ 9.97361993e-01 -7.25824797e-02 -9.15451213e-04 3.14060742e+00] [ 7.25853989e-02 9.97131639e-01 2.14442085e-02 4.92640901e-02] [-6.43648460e-04 -2.14540869e-02 9.99769627e-01 -5.51652427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60719347 meters Centerline goodness : 0.861541 Centerline is valid? [False, False] Translation: X:3.14, Y:0.05, Z:-0.55 [[ 9.97600259e-01 -6.92217350e-02 -1.44027352e-03 3.14130444e+00] [ 6.92363925e-02 9.97316022e-01 2.38133242e-02 5.29843904e-02] [-2.11991762e-04 -2.38558977e-02 9.99715385e-01 -5.52496607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63719346999999 meters Centerline goodness : 0.859577 Centerline is valid? [False, False] Translation: X:3.14, Y:0.06, Z:-0.55 [[ 9.97825106e-01 -6.58853011e-02 -2.04560711e-03 3.14230265e+00] [ 6.59162014e-02 9.97489098e-01 2.58950342e-02 5.74834909e-02] [ 3.34368662e-04 -2.59735539e-02 9.99662574e-01 -5.53625549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667193469999994 meters Centerline goodness : 0.858462 Centerline is valid? [False, False] Translation: X:3.14, Y:0.07, Z:-0.55 [[ 0.99851219 -0.05435645 -0.0043337 3.13722977] [ 0.05442746 0.99834775 0.01842363 0.0699537 ] [ 0.0033251 -0.0186321 0.99982088 -0.55340631] [ 0. 0. 0. 1. ]] SLAMing on 33.697193469999995 meters Centerline goodness : 0.858969 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.55 [[ 9.98583398e-01 -5.30601371e-02 -3.97729482e-03 3.13634790e+00] [ 5.31208494e-02 9.98440915e-01 1.71439437e-02 7.53435918e-02] [ 3.06143388e-03 -1.73309348e-02 9.99845121e-01 -5.54086632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727193469999996 meters Centerline goodness : 0.858441 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.56 [[ 9.98620750e-01 -5.23929433e-02 -3.40260664e-03 3.13571769e+00] [ 5.24383790e-02 9.98511168e-01 1.50221362e-02 7.97594583e-02] [ 2.61048680e-03 -1.51798441e-02 9.99881372e-01 -5.55634005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75719347 meters Centerline goodness : 0.857628 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.56 [[ 9.98714127e-01 -5.05599588e-02 -3.71256964e-03 3.13801006e+00] [ 5.06084353e-02 9.98614862e-01 1.43924606e-02 8.32782358e-02] [ 2.97974501e-03 -1.45618410e-02 9.99889531e-01 -5.59060259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78719347 meters Centerline goodness : 0.855342 Centerline is valid? [False, False] Translation: X:3.13, Y:0.09, Z:-0.56 [[ 0.99916947 -0.03971536 -0.00911427 3.13491506] [ 0.03980198 0.99916216 0.00952801 0.09227988] [ 0.00872823 -0.00988286 0.99991307 -0.5573656 ] [ 0. 0. 0. 1. ]] SLAMing on 33.81719347 meters Centerline goodness : 0.854331 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.56 [[ 0.99930734 -0.03599563 -0.00944251 3.13541289] [ 0.03611314 0.99926848 0.01258372 0.09618254] [ 0.00898264 -0.01291601 0.99987624 -0.55753842] [ 0. 0. 0. 1. ]] SLAMing on 33.84719346999999 meters Centerline goodness : 0.851343 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.56 [[ 0.99942782 -0.03238528 -0.00975844 3.1358769 ] [ 0.03253638 0.99934654 0.01574439 0.09900996] [ 0.00924218 -0.01605288 0.99982843 -0.55767886] [ 0. 0. 0. 1. ]] SLAMing on 33.877193469999995 meters Centerline goodness : 0.851004 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.56 [[ 0.99945123 -0.03159826 -0.00993969 3.1365218 ] [ 0.03175114 0.99937376 0.01561869 0.10162124] [ 0.00943994 -0.01592571 0.99982861 -0.55800685] [ 0. 0. 0. 1. ]] SLAMing on 33.907193469999996 meters Centerline goodness : 0.850441 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99976466 -0.0202328 -0.00782706 3.14615794] [ 0.02026837 0.99978448 0.00449324 0.10214604] [ 0.00773446 -0.00465083 0.99995927 -0.55890241] [ 0. 0. 0. 1. ]] SLAMing on 33.93719347 meters Centerline goodness : 0.851989 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99979054 -0.01867375 -0.00837606 3.14854689] [ 0.01871919 0.99981031 0.00537889 0.10242896] [ 0.00827402 -0.00553456 0.99995045 -0.56049309] [ 0. 0. 0. 1. ]] SLAMing on 33.96719347 meters Centerline goodness : 0.853773 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99987052 -0.01364486 -0.00852965 3.14947028] [ 0.01372979 0.99985595 0.00997894 0.10235134] [ 0.00839226 -0.01009476 0.99991383 -0.5613306 ] [ 0. 0. 0. 1. ]] SLAMing on 33.99719347 meters Centerline goodness : 0.855235 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99987891 -0.01279559 -0.00885604 3.15020224] [ 0.01288934 0.99986062 0.01061196 0.10232839] [ 0.00871902 -0.01072482 0.99990447 -0.56129945] [ 0. 0. 0. 1. ]] SLAMing on 34.02719346999999 meters Centerline goodness : 0.856129 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99988427 -0.01220704 -0.00907889 3.15053796] [ 0.01230987 0.99985972 0.01135803 0.10087198] [ 0.00893897 -0.01146848 0.99989428 -0.56099485] [ 0. 0. 0. 1. ]] SLAMing on 34.057193469999994 meters Centerline goodness : 0.855419 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.56 [[ 0.99985348 -0.01409335 -0.00971586 3.15270799] [ 0.01418526 0.99985466 0.00945684 0.09870798] [ 0.00958117 -0.00959327 0.99990808 -0.56177023] [ 0. 0. 0. 1. ]] SLAMing on 34.087193469999995 meters Centerline goodness : 0.857071 Centerline is valid? [False, False] Translation: X:3.15, Y:0.09, Z:-0.56 [[ 0.99985455 -0.01377685 -0.01005384 3.15338339] [ 0.01388539 0.99984519 0.01080739 0.09370508] [ 0.00990339 -0.01094542 0.99989105 -0.561582 ] [ 0. 0. 0. 1. ]] SLAMing on 34.11719347 meters Centerline goodness : 0.856416 Centerline is valid? [False, False] Translation: X:3.15, Y:0.08, Z:-0.56 [[ 0.9997876 -0.01798674 -0.01006133 3.15380609] [ 0.01806723 0.99980503 0.00796697 0.08328816] [ 0.00991607 -0.00814706 0.99991765 -0.56105803] [ 0. 0. 0. 1. ]] SLAMing on 34.14719347 meters Centerline goodness : 0.857448 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.56 [[ 0.99978543 -0.01959089 -0.00673046 3.17104888] [ 0.01968171 0.99971238 0.01370384 0.07494768] [ 0.00646005 -0.01383337 0.99988345 -0.56404651] [ 0. 0. 0. 1. ]] SLAMing on 34.17719347 meters Centerline goodness : 0.859573 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.56 [[ 0.99972951 -0.02221616 -0.00688088 3.17236026] [ 0.02229941 0.99967607 0.01226722 0.06819939] [ 0.00660612 -0.01241734 0.99990108 -0.56472849] [ 0. 0. 0. 1. ]] SLAMing on 34.20719346999999 meters Centerline goodness : 0.860149 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.57 [[ 0.99962021 -0.0265399 -0.00742037 3.17461433] [ 0.02660954 0.99960125 0.00944851 0.05624069] [ 0.00716665 -0.00964237 0.99992783 -0.56501754] [ 0. 0. 0. 1. ]] SLAMing on 34.237193469999994 meters Centerline goodness : 0.863789 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:-0.57 [[ 0.99955501 -0.02883942 -0.00762055 3.17602208] [ 0.02889956 0.99955108 0.00790249 0.05142632] [ 0.00738923 -0.00811921 0.99993974 -0.56571583] [ 0. 0. 0. 1. ]] SLAMing on 34.267193469999995 meters Centerline goodness : 0.861667 Centerline is valid? [False, False] Translation: X:3.18, Y:0.04, Z:-0.56 [[ 0.99956545 -0.02838576 -0.00794706 3.17680528] [ 0.02847292 0.99953317 0.0110783 0.04452155] [ 0.00762888 -0.01129976 0.99990705 -0.56473617] [ 0. 0. 0. 1. ]] SLAMing on 34.297193469999996 meters Centerline goodness : 0.864941 Centerline is valid? [False, False] Translation: X:3.18, Y:0.03, Z:-0.56 [[ 0.99948971 -0.03074402 -0.00866773 3.17913871] [ 0.03085743 0.99943571 0.01326915 0.03119297] [ 0.00825489 -0.01352985 0.99987439 -0.56391523] [ 0. 0. 0. 1. ]] SLAMing on 34.32719347 meters Centerline goodness : 0.865064 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.56 [[ 0.99940284 -0.03341598 -0.00879391 3.18059778] [ 0.03352393 0.99936063 0.01242857 0.02404427] [ 0.00837297 -0.01271595 0.99988409 -0.56430651] [ 0. 0. 0. 1. ]] SLAMing on 34.35719347 meters Centerline goodness : 0.864623 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:-0.56 [[ 0.99928938 -0.03661946 -0.00892988 3.1816673 ] [ 0.03671691 0.99926512 0.01100371 0.0174407 ] [ 0.00852037 -0.01132377 0.99989958 -0.56414137] [ 0. 0. 0. 1. ]] SLAMing on 34.38719346999999 meters Centerline goodness : 0.866534 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:-0.56 [[ 0.99917746 -0.03944366 -0.00941314 3.18382146] [ 0.039541 0.99916395 0.01038825 0.01097458] [ 0.00899552 -0.01075191 0.99990173 -0.56446721] [ 0. 0. 0. 1. ]] SLAMing on 34.417193469999994 meters Centerline goodness : 0.867635 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.56 [[ 0.99904141 -0.04261742 -0.0100004 3.18595465] [ 0.04271081 0.99904402 0.00931818 0.00508256] [ 0.00959372 -0.00973637 0.99990658 -0.56459741] [ 0. 0. 0. 1. ]] SLAMing on 34.447193469999995 meters Centerline goodness : 0.868855 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.00, Z:-0.56 [[ 0.99865928 -0.05062653 -0.01079831 3.18813255] [ 0.05069134 0.99869744 0.00581432 -0.00483854] [ 0.01048988 -0.0063539 0.99992479 -0.56359086] [ 0. 0. 0. 1. ]] SLAMing on 34.477193469999996 meters Centerline goodness : 0.872051 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.01, Z:-0.56 [[ 9.98301093e-01 -5.72026676e-02 -1.10807308e-02 3.19056394e+00] [ 5.72043891e-02 9.98362475e-01 -1.61780189e-04 -7.32117775e-03] [ 1.10718401e-02 -4.72361100e-04 9.99938594e-01 -5.64735632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50719347 meters Centerline goodness : 0.871710 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.03, Z:-0.54 [[ 0.99773115 -0.06349262 -0.0223885 3.21202999] [ 0.06505629 0.99483694 0.07789185 -0.03039415] [ 0.01732735 -0.07917163 0.9967104 -0.5408724 ] [ 0. 0. 0. 1. ]] SLAMing on 34.53719347 meters Centerline goodness : 0.871936 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:-0.54 [[ 0.99740739 -0.07032109 -0.01527895 3.21369936] [ 0.07108957 0.99581023 0.05751752 -0.0351713 ] [ 0.01117024 -0.05845457 0.99822757 -0.54146193] [ 0. 0. 0. 1. ]] SLAMing on 34.56719347 meters Centerline goodness : 0.872356 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99708443 -0.07403384 -0.01848315 3.22055669] [ 0.07487036 0.99595681 0.04964344 -0.03665588] [ 0.01473312 -0.05088254 0.99859597 -0.53899223] [ 0. 0. 0. 1. ]] SLAMing on 34.59719346999999 meters Centerline goodness : 0.875750 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99678654 -0.07799939 -0.01823997 3.2207712 ] [ 0.07876719 0.99582862 0.04605538 -0.03846839] [ 0.01457159 -0.0473441 0.99877235 -0.5387383 ] [ 0. 0. 0. 1. ]] SLAMing on 34.627193469999995 meters Centerline goodness : 0.877254 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99628397 -0.08443064 -0.01702124 3.2174372 ] [ 0.08505958 0.9955554 0.04042677 -0.03898761] [ 0.01353233 -0.04172436 0.99903751 -0.53601018] [ 0. 0. 0. 1. ]] SLAMing on 34.657193469999996 meters Centerline goodness : 0.877215 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.9959378 -0.08846926 -0.01676544 3.21747022] [ 0.0890265 0.99537605 0.03606662 -0.03684492] [ 0.01349713 -0.03741268 0.99920875 -0.53589606] [ 0. 0. 0. 1. ]] SLAMing on 34.68719347 meters Centerline goodness : 0.878818 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.54 [[ 0.99587406 -0.08916064 -0.01688874 3.21754846] [ 0.08971364 0.99533665 0.03544592 -0.0357782 ] [ 0.0136496 -0.03681483 0.99922888 -0.5356602 ] [ 0. 0. 0. 1. ]] SLAMing on 34.71719347 meters Centerline goodness : 0.878667 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.54 [[ 0.99573737 -0.09058525 -0.01736096 3.21980572] [ 0.09113217 0.99526368 0.03383995 -0.03404855] [ 0.01421333 -0.03527785 0.99927647 -0.53715006] [ 0. 0. 0. 1. ]] SLAMing on 34.74719347 meters Centerline goodness : 0.879525 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.54 [[ 0.99584749 -0.08916811 -0.01835265 3.22134304] [ 0.08949804 0.99582403 0.01801679 -0.03016571] [ 0.01666948 -0.0195845 0.99966923 -0.53847009] [ 0. 0. 0. 1. ]] SLAMing on 34.77719346999999 meters Centerline goodness : 0.881147 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.54 [[ 0.9958157 -0.08953827 -0.01827551 3.2213897 ] [ 0.08984745 0.9958128 0.01686144 -0.02719272] [ 0.01668924 -0.0184329 0.9996908 -0.53873477] [ 0. 0. 0. 1. ]] SLAMing on 34.807193469999994 meters Centerline goodness : 0.878767 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.02, Z:-0.54 [[ 0.99584705 -0.08921908 -0.0181276 3.22120725] [ 0.08951195 0.99585655 0.0160422 -0.02183123] [ 0.01662122 -0.01759821 0.99970698 -0.53919077] [ 0. 0. 0. 1. ]] SLAMing on 34.837193469999995 meters Centerline goodness : 0.880137 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.54 [[ 0.99658929 -0.08017217 -0.01955045 3.22298538] [ 0.08061867 0.99647423 0.02323238 -0.01039875] [ 0.01761893 -0.02472928 0.99953891 -0.54088974] [ 0. 0. 0. 1. ]] SLAMing on 34.86719347 meters Centerline goodness : 0.876126 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:-0.54 [[ 0.99689739 -0.07597145 -0.02058959 3.22442087] [ 0.07649081 0.99673814 0.02573409 -0.00426507] [ 0.01856737 -0.02722916 0.99945677 -0.5415996 ] [ 0. 0. 0. 1. ]] SLAMing on 34.89719347 meters Centerline goodness : 0.876999 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.54 [[ 9.97239258e-01 -6.94684931e-02 -2.62295598e-02 3.21276035e+00] [ 7.00510052e-02 9.97301161e-01 2.19829745e-02 2.21935554e-03] [ 2.46316463e-02 -2.37596922e-02 9.99414208e-01 -5.37799795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92719347 meters Centerline goodness : 0.877360 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.54 [[ 0.99748739 -0.06575102 -0.02637625 3.21236357] [ 0.06637976 0.99751258 0.02371457 0.00783259] [ 0.02475138 -0.02540583 0.99937076 -0.53818954] [ 0. 0. 0. 1. ]] SLAMing on 34.95719346999999 meters Centerline goodness : 0.879139 Centerline is valid? [False, False] Translation: X:3.21, Y:0.02, Z:-0.54 [[ 0.99787887 -0.06075755 -0.02337258 3.20749013] [ 0.06122921 0.99792288 0.0200228 0.02038558] [ 0.0221075 -0.02141142 0.99952629 -0.53584636] [ 0. 0. 0. 1. ]] SLAMing on 34.987193469999994 meters Centerline goodness : 0.882225 Centerline is valid? [False, False] Translation: X:3.21, Y:0.03, Z:-0.54 [[ 0.99795313 -0.05957315 -0.02325058 3.20723037] [ 0.06001477 0.99802078 0.01878169 0.02582077] [ 0.02208568 -0.02013863 0.99955323 -0.53664787] [ 0. 0. 0. 1. ]] SLAMing on 35.017193469999995 meters Centerline goodness : 0.878374 Centerline is valid? [False, False] Translation: X:3.21, Y:0.03, Z:-0.54 [[ 0.99815266 -0.0559759 -0.02362133 3.20789155] [ 0.05647254 0.99818518 0.02090916 0.02986268] [ 0.02240806 -0.02220449 0.9995023 -0.53781637] [ 0. 0. 0. 1. ]] SLAMing on 35.047193469999996 meters Centerline goodness : 0.879673 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.54 [[ 0.99856658 -0.0474168 -0.02482807 3.21137365] [ 0.04805772 0.99850905 0.02588691 0.03903325] [ 0.02356358 -0.02704299 0.99935651 -0.54225605] [ 0. 0. 0. 1. ]] SLAMing on 35.07719347 meters Centerline goodness : 0.878957 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.54 [[ 0.99874135 -0.0435375 -0.02490387 3.21147031] [ 0.04423519 0.99862344 0.02818632 0.04311183] [ 0.02364242 -0.02925248 0.99929241 -0.5432857 ] [ 0. 0. 0. 1. ]] SLAMing on 35.10719347 meters Centerline goodness : 0.877169 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99878597 -0.04263691 -0.02467148 3.2109744 ] [ 0.0433028 0.99869393 0.02711649 0.04703504] [ 0.02348309 -0.02815191 0.99932778 -0.54390191] [ 0. 0. 0. 1. ]] SLAMing on 35.13719346999999 meters Centerline goodness : 0.881874 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885813 -0.04134128 -0.02394426 3.20951464] [ 0.04198388 0.99875376 0.0269865 0.04818881] [ 0.02279876 -0.02796096 0.99934899 -0.54390808] [ 0. 0. 0. 1. ]] SLAMing on 35.167193469999994 meters Centerline goodness : 0.879516 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99886124 -0.04108536 -0.02425331 3.21033932] [ 0.04174207 0.99875752 0.02722173 0.04758807] [ 0.02310476 -0.02820311 0.99933516 -0.54417834] [ 0. 0. 0. 1. ]] SLAMing on 35.197193469999995 meters Centerline goodness : 0.880095 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885835 -0.04106583 -0.024405 3.21096172] [ 0.04172335 0.99876235 0.0270728 0.04751499] [ 0.02326302 -0.02806015 0.99933551 -0.54463519] [ 0. 0. 0. 1. ]] SLAMing on 35.227193469999996 meters Centerline goodness : 0.880095 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885835 -0.04106583 -0.024405 3.21096172] [ 0.04172335 0.99876235 0.0270728 0.04751499] [ 0.02326302 -0.02806015 0.99933551 -0.54463519] [ 0. 0. 0. 1. ]] SLAMing on 35.25719347 meters Centerline goodness : 0.878729 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.54 [[ 0.99885821 -0.04072672 -0.02497218 3.21194453] [ 0.04142092 0.998751 0.027942 0.04650544] [ 0.023803 -0.02894447 0.99929757 -0.54423248] [ 0. 0. 0. 1. ]] SLAMing on 35.28719347 meters Centerline goodness : 0.881310 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.54 [[ 0.99872956 -0.04352587 -0.02539216 3.21408219] [ 0.0441981 0.99867013 0.02654235 0.04071443] [ 0.02420311 -0.02763091 0.99932514 -0.54479332] [ 0. 0. 0. 1. ]] SLAMing on 35.31719346999999 meters Centerline goodness : 0.875878 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.55 [[ 0.99858597 -0.04672275 -0.02535831 3.21519802] [ 0.04733732 0.99858574 0.02420123 0.03749529] [ 0.0241917 -0.0253674 0.99938544 -0.54551233] [ 0. 0. 0. 1. ]] SLAMing on 35.34719346999999 meters Centerline goodness : 0.873107 Centerline is valid? [False, False] Translation: X:3.22, Y:0.03, Z:-0.55 [[ 0.9982356 -0.05320013 -0.02637115 3.22096708] [ 0.05372843 0.99836033 0.01974628 0.0310817 ] [ 0.02527741 -0.02112832 0.99945718 -0.54917939] [ 0. 0. 0. 1. ]] SLAMing on 35.377193469999995 meters Centerline goodness : 0.872131 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.55 [[ 0.99782881 -0.05651087 -0.03382598 3.2224304 ] [ 0.05774628 0.99765527 0.03673313 0.02114422] [ 0.03167085 -0.0386067 0.99875246 -0.54504914] [ 0. 0. 0. 1. ]] SLAMing on 35.407193469999996 meters Centerline goodness : 0.870974 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.55 [[ 0.99748014 -0.06236434 -0.03382407 3.2242717 ] [ 0.06342533 0.99749695 0.03125786 0.0181121 ] [ 0.03179004 -0.0333244 0.99893888 -0.54597101] [ 0. 0. 0. 1. ]] SLAMing on 35.43719347 meters Centerline goodness : 0.874033 Centerline is valid? [False, False] Translation: X:3.23, Y:0.01, Z:-0.54 [[ 0.99743067 -0.06272935 -0.03459881 3.22604101] [ 0.06390515 0.99737682 0.03399419 0.01229339] [ 0.03237561 -0.03611789 0.99882297 -0.54472845] [ 0. 0. 0. 1. ]] SLAMing on 35.46719347 meters Centerline goodness : 0.873006 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.54 [[ 0.99714667 -0.06738038 -0.03403532 3.22445455] [ 0.06846173 0.99715086 0.03167246 0.00610578] [ 0.03180425 -0.03391221 0.99891864 -0.5419328 ] [ 0. 0. 0. 1. ]] SLAMing on 35.49719347 meters Centerline goodness : 0.874695 Centerline is valid? [False, False] Translation: X:3.23, Y:0.00, Z:-0.54 [[ 9.96996339e-01 -6.93569360e-02 -3.44661450e-02 3.22606951e+00] [ 7.03973922e-02 9.97069299e-01 2.99502789e-02 3.19817804e-03] [ 3.22878755e-02 -3.22866451e-02 9.98956989e-01 -5.42022438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52719346999999 meters Centerline goodness : 0.877314 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.9971602 -0.06677048 -0.03483164 3.22610898] [ 0.06796299 0.99709959 0.03425548 -0.00507996] [ 0.03244336 -0.03652547 0.99880595 -0.53981164] [ 0. 0. 0. 1. ]] SLAMing on 35.557193469999994 meters Centerline goodness : 0.877047 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.99723059 -0.06576873 -0.03472198 3.22540899] [ 0.06699994 0.99711864 0.03557284 -0.0071247 ] [ 0.03228235 -0.0378007 0.99876371 -0.5388474 ] [ 0. 0. 0. 1. ]] SLAMing on 35.587193469999995 meters Centerline goodness : 0.875931 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.99729065 -0.06438083 -0.03558739 3.22688637] [ 0.06570074 0.99714368 0.03725457 -0.00961738] [ 0.03308726 -0.03949176 0.99867194 -0.53837107] [ 0. 0. 0. 1. ]] SLAMing on 35.61719347 meters Centerline goodness : 0.874840 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.54 [[ 0.99732474 -0.06362765 -0.03598452 3.2280338 ] [ 0.06500927 0.99713688 0.03862431 -0.01270973] [ 0.03342392 -0.04086031 0.99860567 -0.53843843] [ 0. 0. 0. 1. ]] SLAMing on 35.64719347 meters Centerline goodness : 0.873879 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.02, Z:-0.54 [[ 0.9972736 -0.06232034 -0.03951635 3.22484118] [ 0.06342283 0.99761363 0.02728726 -0.01536142] [ 0.0377215 -0.0297191 0.99884627 -0.53841022] [ 0. 0. 0. 1. ]] SLAMing on 35.67719347 meters Centerline goodness : 0.874312 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:-0.53 [[ 0.99690648 -0.06481603 -0.04445623 3.24989298] [ 0.06743141 0.99591226 0.06009811 -0.03147654] [ 0.04037919 -0.06290994 0.99720202 -0.5285365 ] [ 0. 0. 0. 1. ]] SLAMing on 35.70719346999999 meters Centerline goodness : 0.875470 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.53 [[ 0.99690906 -0.06646221 -0.04189395 3.2415998 ] [ 0.06854832 0.99636895 0.05049792 -0.03423513] [ 0.03838563 -0.05321359 0.99784511 -0.5304982 ] [ 0. 0. 0. 1. ]] SLAMing on 35.737193469999994 meters Centerline goodness : 0.876348 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.04, Z:-0.53 [[ 0.99711275 -0.06608561 -0.03740119 3.25203825] [ 0.06767827 0.99677791 0.04305169 -0.03647155] [ 0.03443558 -0.04545863 0.99837253 -0.53200345] [ 0. 0. 0. 1. ]] SLAMing on 35.767193469999995 meters Centerline goodness : 0.877356 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.04, Z:-0.53 [[ 0.99697009 -0.06987755 -0.03417273 3.25786175] [ 0.07091568 0.99702586 0.03017276 -0.04357339] [ 0.03196269 -0.03250472 0.99896037 -0.52838149] [ 0. 0. 0. 1. ]] SLAMing on 35.797193469999996 meters Centerline goodness : 0.877104 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.05, Z:-0.53 [[ 0.996717 -0.07337259 -0.03422997 3.25863114] [ 0.07432254 0.99685895 0.02735662 -0.04767862] [ 0.03211522 -0.02981087 0.9990395 -0.5281884 ] [ 0. 0. 0. 1. ]] SLAMing on 35.82719347 meters Centerline goodness : 0.876503 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.05, Z:-0.53 [[ 0.99647749 -0.07642603 -0.0345206 3.26048263] [ 0.07730834 0.99669401 0.02498954 -0.0514331 ] [ 0.03249663 -0.02757024 0.99909151 -0.52883353] [ 0. 0. 0. 1. ]] SLAMing on 35.85719347 meters Centerline goodness : 0.877642 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.06, Z:-0.53 [[ 0.99592874 -0.08337785 -0.03426494 3.26268392] [ 0.08407204 0.99627194 0.01934193 -0.05562763] [ 0.03252451 -0.02214391 0.9992256 -0.53053864] [ 0. 0. 0. 1. ]] SLAMing on 35.88719346999999 meters Centerline goodness : 0.875254 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.06, Z:-0.53 [[ 0.99554429 -0.08776147 -0.03448907 3.26433882] [ 0.08834907 0.99596272 0.0158966 -0.05802936] [ 0.03295472 -0.01887284 0.99927864 -0.53098757] [ 0. 0. 0. 1. ]] SLAMing on 35.917193469999994 meters Centerline goodness : 0.873636 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.06, Z:-0.53 [[ 0.99514265 -0.0922866 -0.03426804 3.26483863] [ 0.09275278 0.99561357 0.01226959 -0.06032712] [ 0.03298541 -0.01538845 0.99933736 -0.5308825 ] [ 0. 0. 0. 1. ]] SLAMing on 35.947193469999995 meters Centerline goodness : 0.874081 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 0.99472715 -0.0966973 -0.03416907 3.26514045] [ 0.09703666 0.99524525 0.00841295 -0.06163512] [ 0.03319309 -0.01168425 0.99938066 -0.53031758] [ 0. 0. 0. 1. ]] SLAMing on 35.977193469999996 meters Centerline goodness : 0.874484 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.94045818e-01 -1.03495352e-01 -3.40826125e-02 3.26740408e+00] [ 1.03630886e-01 9.94613326e-01 2.22966423e-03 -6.28892199e-02] [ 3.36682607e-02 -5.74839973e-03 9.99416532e-01 -5.31337002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00719347 meters Centerline goodness : 0.873809 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.93616392e-01 -1.07593170e-01 -3.39142337e-02 3.26798403e+00] [ 1.07589099e-01 9.94193534e-01 -1.95025400e-03 -6.25333249e-02] [ 3.39271458e-02 -1.71099749e-03 9.99422844e-01 -5.31319290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03719347 meters Centerline goodness : 0.875729 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.93209958e-01 -1.11408692e-01 -3.34974928e-02 3.26788267e+00] [ 1.11268805e-01 9.93772129e-01 -6.01738894e-03 -6.19850414e-02] [ 3.39592642e-02 2.24930461e-03 9.99420687e-01 -5.31060543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06719346999999 meters Centerline goodness : 0.876163 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.53 [[ 9.93151535e-01 -1.11926356e-01 -3.35040266e-02 3.26793099e+00] [ 1.11776410e-01 9.93713276e-01 -6.32140161e-03 -6.20820650e-02] [ 3.40009274e-02 2.53314990e-03 9.99418591e-01 -5.30860515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09719346999999 meters Centerline goodness : 0.878158 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.06, Z:-0.53 [[ 9.93335264e-01 -1.11572502e-01 -2.89245637e-02 3.28403890e+00] [ 1.11488070e-01 9.93755490e-01 -4.52056833e-03 -5.77176718e-02] [ 2.92483151e-02 1.26569615e-03 9.99571375e-01 -5.30936305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127193469999995 meters Centerline goodness : 0.879232 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.06, Z:-0.53 [[ 9.93278546e-01 -1.12036695e-01 -2.90776375e-02 3.28445011e+00] [ 1.11935389e-01 9.93702431e-01 -5.09383131e-03 -5.56205272e-02] [ 2.94652151e-02 1.80477670e-03 9.99564177e-01 -5.31115852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157193469999996 meters Centerline goodness : 0.877761 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.53 [[ 9.93198930e-01 -1.12691388e-01 -2.92666581e-02 3.28538827e+00] [ 1.12567048e-01 9.93626809e-01 -5.86720079e-03 -5.38605340e-02] [ 2.97413191e-02 2.53283624e-03 9.99554420e-01 -5.31716327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18719347 meters Centerline goodness : 0.875433 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.54 [[ 0.99284555 -0.11555214 -0.03009001 3.29168628] [ 0.11532549 0.99328545 -0.00916755 -0.05153443] [ 0.0309473 0.00563181 0.99950515 -0.53671582] [ 0. 0. 0. 1. ]] SLAMing on 36.21719347 meters Centerline goodness : 0.876504 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.54 [[ 0.99269504 -0.11674351 -0.03045522 3.29424157] [ 0.11647885 0.99313945 -0.01032997 -0.05056852] [ 0.03145224 0.00670712 0.99948275 -0.53873606] [ 0. 0. 0. 1. ]] SLAMing on 36.24719347 meters Centerline goodness : 0.874042 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.05, Z:-0.54 [[ 0.99262907 -0.11724753 -0.03066832 3.29549674] [ 0.11696401 0.99307648 -0.01088693 -0.0493823 ] [ 0.03173245 0.0072196 0.99947032 -0.53975592] [ 0. 0. 0. 1. ]] SLAMing on 36.27719346999999 meters Centerline goodness : 0.872894 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.54 [[ 0.99249809 -0.11809025 -0.03165805 3.30008732] [ 0.11775443 0.99296685 -0.01227674 -0.04424647] [ 0.03288516 0.00845677 0.99942336 -0.54314254] [ 0. 0. 0. 1. ]] SLAMing on 36.307193469999994 meters Centerline goodness : 0.873401 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.55 [[ 0.99272673 -0.11591009 -0.03253449 3.30265697] [ 0.11564212 0.99324053 -0.01000715 -0.04225808] [ 0.03347451 0.00617201 0.99942051 -0.5450546 ] [ 0. 0. 0. 1. ]] SLAMing on 36.337193469999995 meters Centerline goodness : 0.872323 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.04, Z:-0.55 [[ 0.99279892 -0.11505181 -0.03336741 3.3056898 ] [ 0.11479531 0.99334365 -0.00951 -0.03922535] [ 0.03423944 0.00561109 0.99939791 -0.54717615] [ 0. 0. 0. 1. ]] SLAMing on 36.36719347 meters Centerline goodness : 0.872374 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.03, Z:-0.55 [[ 0.99316918 -0.1131303 -0.02857483 3.32020694] [ 0.11279056 0.99353058 -0.01323904 -0.03429504] [ 0.0298877 0.00992563 0.99950398 -0.55083172] [ 0. 0. 0. 1. ]] SLAMing on 36.39719347 meters Centerline goodness : 0.869180 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.55 [[ 0.99358052 -0.11098752 -0.02189788 3.33040944] [ 0.11058719 0.99369011 -0.01871995 -0.02705713] [ 0.02383739 0.01617815 0.99958494 -0.5534339 ] [ 0. 0. 0. 1. ]] SLAMing on 36.42719347 meters Centerline goodness : 0.868908 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.03, Z:-0.55 [[ 0.99389804 -0.10806502 -0.02210515 3.33003395] [ 0.10773412 0.99405651 -0.01565267 -0.02628975] [ 0.02366528 0.01317568 0.99963311 -0.55316517] [ 0. 0. 0. 1. ]] SLAMing on 36.45719346999999 meters Centerline goodness : 0.869811 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.02, Z:-0.56 [[ 0.99436939 -0.10491821 -0.0148889 3.34016455] [ 0.10460537 0.9943039 -0.02043187 -0.01759376] [ 0.01694776 0.01875936 0.99968038 -0.55654629] [ 0. 0. 0. 1. ]] SLAMing on 36.487193469999994 meters Centerline goodness : 0.867631 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.56 [[ 0.99488061 -0.10040919 -0.01142657 3.35058582] [ 0.10009257 0.99465022 -0.0255425 -0.01275218] [ 0.01393014 0.02426803 0.99960843 -0.5588228 ] [ 0. 0. 0. 1. ]] SLAMing on 36.517193469999995 meters Centerline goodness : 0.867292 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.01, Z:-0.56 [[ 0.99508224 -0.09830879 -0.01211234 3.35229122] [ 0.09799953 0.99489896 -0.02391951 -0.00834791] [ 0.01440205 0.02261487 0.99964051 -0.56000959] [ 0. 0. 0. 1. ]] SLAMing on 36.547193469999996 meters Centerline goodness : 0.867988 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.56 [[ 9.95661513e-01 -9.22019156e-02 -1.25283166e-02 3.35179774e+00] [ 9.19551511e-02 9.95581448e-01 -1.90218509e-02 3.25549412e-04] [ 1.42268107e-02 1.77872816e-02 9.99740572e-01 -5.60205974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57719347 meters Centerline goodness : 0.865343 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.56 [[ 9.96242901e-01 -8.55870420e-02 -1.32265324e-02 3.35209475e+00] [ 8.54233851e-02 9.96266577e-01 -1.24800947e-02 2.86573693e-03] [ 1.42452866e-02 1.13033505e-02 9.99834639e-01 -5.60455597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60719347 meters Centerline goodness : 0.869389 Centerline is valid? [False, False] Translation: X:3.35, Y:0.00, Z:-0.56 [[ 0.99678767 -0.07887098 -0.01391781 3.3523832 ] [ 0.07879538 0.99687335 -0.0059002 0.00496738] [ 0.01433964 0.00478459 0.99988573 -0.5605882 ] [ 0. 0. 0. 1. ]] SLAMing on 36.63719346999999 meters Centerline goodness : 0.863443 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.56 [[ 9.97283587e-01 -7.21239898e-02 -1.49525037e-02 3.35326927e+00] [ 7.21508897e-02 9.97392924e-01 1.26674743e-03 6.04392115e-03] [ 1.48221585e-02 -2.34214287e-03 9.99887403e-01 -5.60425800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667193469999994 meters Centerline goodness : 0.862835 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.56 [[ 9.97603497e-01 -6.74989037e-02 -1.52039497e-02 3.35425541e+00] [ 6.75492154e-02 9.97711959e-01 2.81966897e-03 1.25941547e-02] [ 1.49788379e-02 -3.83992650e-03 9.99880438e-01 -5.62497769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697193469999995 meters Centerline goodness : 0.861522 Centerline is valid? [False, False] Translation: X:3.35, Y:0.01, Z:-0.56 [[ 0.99802511 -0.06078149 -0.01585857 3.35389189] [ 0.06093677 0.99809643 0.00949889 0.01422963] [ 0.01525102 -0.0104465 0.99982912 -0.56165005] [ 0. 0. 0. 1. ]] SLAMing on 36.727193469999996 meters Centerline goodness : 0.864501 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99824462 -0.05699503 -0.0161008 3.35317105] [ 0.05719513 0.99828782 0.01225335 0.01830839] [ 0.01537485 -0.01315272 0.99979529 -0.56098291] [ 0. 0. 0. 1. ]] SLAMing on 36.75719347 meters Centerline goodness : 0.861768 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99840797 -0.05394871 -0.01646375 3.35198391] [ 0.05418155 0.99843239 0.01404006 0.02463245] [ 0.01568049 -0.01490974 0.99976588 -0.55945338] [ 0. 0. 0. 1. ]] SLAMing on 36.78719347 meters Centerline goodness : 0.863102 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99839592 -0.05410052 -0.01669502 3.35227535] [ 0.05433848 0.99842239 0.01414442 0.02453055] [ 0.01590346 -0.01502891 0.99976058 -0.55903225] [ 0. 0. 0. 1. ]] SLAMing on 36.81719346999999 meters Centerline goodness : 0.868614 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99837266 -0.05443515 -0.01699575 3.35260775] [ 0.05468979 0.99839229 0.01489501 0.0222844 ] [ 0.01615761 -0.01580026 0.99974461 -0.55806673] [ 0. 0. 0. 1. ]] SLAMing on 36.84719346999999 meters Centerline goodness : 0.868870 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99817624 -0.05810786 -0.01636095 3.35168918] [ 0.05829392 0.99823737 0.01113462 0.0219527 ] [ 0.0156851 -0.01206806 0.99980415 -0.55770619] [ 0. 0. 0. 1. ]] SLAMing on 36.877193469999995 meters Centerline goodness : 0.868031 Centerline is valid? [False, False] Translation: X:3.35, Y:0.02, Z:-0.56 [[ 0.99808211 -0.05956143 -0.01686826 3.35458363] [ 0.05973489 0.99816446 0.00997279 0.02253982] [ 0.01624331 -0.01096129 0.99980798 -0.56016081] [ 0. 0. 0. 1. ]] SLAMing on 36.907193469999996 meters Centerline goodness : 0.869338 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99806582 -0.05977033 -0.01709152 3.35546798] [ 0.05993179 0.99816103 0.00909567 0.025338 ] [ 0.01651644 -0.0101024 0.99981256 -0.56103228] [ 0. 0. 0. 1. ]] SLAMing on 36.93719347 meters Centerline goodness : 0.869831 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99824745 -0.05649841 -0.01760548 3.35572326] [ 0.0566996 0.99832907 0.01114574 0.03061285] [ 0.01694635 -0.01212443 0.99978289 -0.5610774 ] [ 0. 0. 0. 1. ]] SLAMing on 36.96719347 meters Centerline goodness : 0.869236 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99824985 -0.0563861 -0.01782818 3.3563398 ] [ 0.05657969 0.99834237 0.0105473 0.03284012] [ 0.01720391 -0.01153755 0.99978543 -0.56157015] [ 0. 0. 0. 1. ]] SLAMing on 36.99719347 meters Centerline goodness : 0.869383 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.56 [[ 0.99824128 -0.05642996 -0.01816601 3.35692909] [ 0.05662029 0.99834431 0.01013841 0.03416793] [ 0.01756382 -0.01114915 0.99978358 -0.56158206] [ 0. 0. 0. 1. ]] SLAMing on 37.02719346999999 meters Centerline goodness : 0.870004 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.56 [[ 0.99820397 -0.05704661 -0.01829 3.35734286] [ 0.05721265 0.99832422 0.00868686 0.03707005] [ 0.01776379 -0.00971768 0.99979499 -0.56212642] [ 0. 0. 0. 1. ]] SLAMing on 37.057193469999994 meters Centerline goodness : 0.870399 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.56 [[ 0.99825146 -0.05587865 -0.01927664 3.36063096] [ 0.05606046 0.9983866 0.00902342 0.04012122] [ 0.01874132 -0.0100883 0.99977347 -0.56443949] [ 0. 0. 0. 1. ]] SLAMing on 37.087193469999995 meters Centerline goodness : 0.873369 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.57 [[ 0.99836613 -0.05348698 -0.02010521 3.36310403] [ 0.05371908 0.99849342 0.01118683 0.04216215] [ 0.01947657 -0.01224858 0.99973528 -0.56614861] [ 0. 0. 0. 1. ]] SLAMing on 37.11719347 meters Centerline goodness : 0.873369 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.57 [[ 0.99836613 -0.05348698 -0.02010521 3.36310403] [ 0.05371908 0.99849342 0.01118683 0.04216215] [ 0.01947657 -0.01224858 0.99973528 -0.56614861] [ 0. 0. 0. 1. ]] SLAMing on 37.14719347 meters Centerline goodness : 0.868618 Centerline is valid? [False, False] Translation: X:3.37, Y:0.04, Z:-0.57 [[ 0.99840506 -0.05240729 -0.02099538 3.3661868 ] [ 0.05265953 0.99854461 0.01164648 0.04331752] [ 0.02035446 -0.01273351 0.99971174 -0.56832277] [ 0. 0. 0. 1. ]] SLAMing on 37.17719347 meters Centerline goodness : 0.870243 Centerline is valid? [False, False] Translation: X:3.37, Y:0.05, Z:-0.57 [[ 0.99849338 -0.05056789 -0.02130394 3.36879982] [ 0.0508205 0.99864174 0.01148734 0.04588745] [ 0.02069411 -0.01255271 0.99970705 -0.57182551] [ 0. 0. 0. 1. ]] SLAMing on 37.20719346999999 meters Centerline goodness : 0.868666 Centerline is valid? [False, False] Translation: X:3.37, Y:0.05, Z:-0.57 [[ 0.9985253 -0.04984423 -0.02151232 3.36978051] [ 0.05008643 0.99868573 0.01087042 0.04848533] [ 0.02094222 -0.01193187 0.99970948 -0.57316711] [ 0. 0. 0. 1. ]] SLAMing on 37.237193469999994 meters Centerline goodness : 0.868227 Centerline is valid? [False, False] Translation: X:3.37, Y:0.05, Z:-0.57 [[ 0.99855803 -0.04923165 -0.02140336 3.36970213] [ 0.04945461 0.99872616 0.01001532 0.05138209] [ 0.02088302 -0.01105937 0.99972076 -0.57385172] [ 0. 0. 0. 1. ]] SLAMing on 37.267193469999995 meters Centerline goodness : 0.868797 Centerline is valid? [False, False] Translation: X:3.38, Y:0.06, Z:-0.57 [[ 9.98944497e-01 -3.95401544e-02 -2.33766570e-02 3.38432372e+00] [ 3.95636659e-02 9.99216904e-01 5.43946676e-04 5.58267529e-02] [ 2.33368431e-02 -1.46823879e-03 9.99726581e-01 -5.69656519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297193469999996 meters Centerline goodness : 0.868654 Centerline is valid? [False, False] Translation: X:3.38, Y:0.05, Z:-0.57 [[ 0.99911113 -0.03489318 -0.02365198 3.38434175] [ 0.03503688 0.99936983 0.00568885 0.05426796] [ 0.02343857 -0.00651249 0.99970407 -0.56900396] [ 0. 0. 0. 1. ]] SLAMing on 37.32719347 meters Centerline goodness : 0.870462 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.99924553 -0.03043293 -0.02412912 3.38519566] [ 0.03069831 0.99947137 0.01070514 0.05290876] [ 0.02379058 -0.01143778 0.99965153 -0.56897215] [ 0. 0. 0. 1. ]] SLAMing on 37.35719347 meters Centerline goodness : 0.867366 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.9993946 -0.02488903 -0.02430982 3.38577419] [ 0.02528276 0.99955188 0.01602554 0.05125055] [ 0.02390007 -0.01663046 0.99957602 -0.56948892] [ 0. 0. 0. 1. ]] SLAMing on 37.38719346999999 meters Centerline goodness : 0.865819 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.99939837 -0.02432473 -0.02472237 3.38706712] [ 0.02474622 0.9995511 0.01688833 0.04917221] [ 0.02430047 -0.01748996 0.99955169 -0.56998977] [ 0. 0. 0. 1. ]] SLAMing on 37.417193469999994 meters Centerline goodness : 0.865288 Centerline is valid? [False, False] Translation: X:3.39, Y:0.05, Z:-0.57 [[ 0.99934482 -0.02592546 -0.02525453 3.3899107 ] [ 0.02631868 0.99953552 0.01536436 0.04656094] [ 0.02484447 -0.01601896 0.99956298 -0.57180823] [ 0. 0. 0. 1. ]] SLAMing on 37.447193469999995 meters Centerline goodness : 0.863446 Centerline is valid? [False, False] Translation: X:3.39, Y:0.04, Z:-0.57 [[ 0.99927069 -0.02840765 -0.02551655 3.3915532 ] [ 0.02875841 0.99949541 0.01348641 0.0422203 ] [ 0.02512055 -0.01421039 0.99958342 -0.57268188] [ 0. 0. 0. 1. ]] SLAMing on 37.477193469999996 meters Centerline goodness : 0.865649 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.57 [[ 0.99913777 -0.03227796 -0.0261122 3.39430584] [ 0.03261634 0.99938804 0.01263809 0.03342905] [ 0.02568829 -0.01347888 0.99957913 -0.57326347] [ 0. 0. 0. 1. ]] SLAMing on 37.50719347 meters Centerline goodness : 0.866283 Centerline is valid? [False, False] Translation: X:3.40, Y:0.03, Z:-0.57 [[ 0.9989931 -0.03621891 -0.026476 3.39534653] [ 0.03648429 0.99928802 0.00960993 0.03123213] [ 0.02610909 -0.01056621 0.99960326 -0.57304124] [ 0. 0. 0. 1. ]] SLAMing on 37.53719347 meters Centerline goodness : 0.864739 Centerline is valid? [False, False] Translation: X:3.40, Y:0.03, Z:-0.57 [[ 0.99896412 -0.03646907 -0.02721576 3.39703318] [ 0.03679836 0.99925424 0.0116979 0.02620475] [ 0.02676885 -0.01268728 0.99956113 -0.57253157] [ 0. 0. 0. 1. ]] SLAMing on 37.56719346999999 meters Centerline goodness : 0.864382 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.57 [[ 0.99877994 -0.04092166 -0.02764133 3.39927288] [ 0.04117628 0.99911397 0.00870582 0.01834659] [ 0.02726058 -0.00983337 0.99957999 -0.57282694] [ 0. 0. 0. 1. ]] SLAMing on 37.59719346999999 meters Centerline goodness : 0.863796 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.57 [[ 0.99877441 -0.0405415 -0.02839138 3.40130337] [ 0.04086783 0.99910391 0.0110094 0.01354534] [ 0.0279196 -0.01215621 0.99953625 -0.57282872] [ 0. 0. 0. 1. ]] SLAMing on 37.627193469999995 meters Centerline goodness : 0.863252 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.57 [[ 0.99868588 -0.042376 -0.02882335 3.40366001] [ 0.04265615 0.99904768 0.00917492 0.01190171] [ 0.0284071 -0.01039235 0.99954241 -0.57425639] [ 0. 0. 0. 1. ]] SLAMing on 37.657193469999996 meters Centerline goodness : 0.866701 Centerline is valid? [False, False] Translation: X:3.40, Y:0.01, Z:-0.57 [[ 0.99880964 -0.03879188 -0.02957171 3.40487627] [ 0.0392506 0.99911541 0.01509255 0.00736884] [ 0.02896008 -0.01623529 0.99944871 -0.57325847] [ 0. 0. 0. 1. ]] SLAMing on 37.68719347 meters Centerline goodness : 0.866845 Centerline is valid? [False, False] Translation: X:3.40, Y:0.00, Z:-0.57 [[ 9.98682790e-01 -4.19305808e-02 -2.95721524e-02 3.40408016e+00] [ 4.23453223e-02 9.99011276e-01 1.35404929e-02 2.03473250e-03] [ 2.89751529e-02 -1.47748995e-02 9.99470931e-01 -5.70945714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71719347 meters Centerline goodness : 0.867770 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.00, Z:-0.57 [[ 9.98676159e-01 -4.19604871e-02 -2.97531021e-02 3.40395224e+00] [ 4.24425789e-02 9.98974587e-01 1.57607536e-02 -3.11864097e-03] [ 2.90612640e-02 -1.70026873e-02 9.99433015e-01 -5.69073524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74719347 meters Centerline goodness : 0.868071 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.01, Z:-0.57 [[ 0.9985135 -0.04561092 -0.02983999 3.40412212] [ 0.04601374 0.9988568 0.01295451 -0.00536266] [ 0.02921501 -0.0143083 0.99947074 -0.56815145] [ 0. 0. 0. 1. ]] SLAMing on 37.77719346999999 meters Centerline goodness : 0.866205 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:-0.56 [[ 0.99832855 -0.04738513 -0.03308722 3.41509911] [ 0.04834107 0.99841804 0.02871511 -0.01304215] [ 0.03167421 -0.03026658 0.99903988 -0.5607633 ] [ 0. 0. 0. 1. ]] SLAMing on 37.807193469999994 meters Centerline goodness : 0.868045 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.02, Z:-0.56 [[ 0.99824832 -0.05174 -0.02869243 3.4204437 ] [ 0.05218731 0.99852366 0.01506626 -0.01942129] [ 0.02787054 -0.01653725 0.99947474 -0.5581898 ] [ 0. 0. 0. 1. ]] SLAMing on 37.837193469999995 meters Centerline goodness : 0.868350 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.56 [[ 0.99825349 -0.05145863 -0.02901691 3.42105613] [ 0.05197427 0.99849848 0.01730475 -0.02511157] [ 0.02808286 -0.01878266 0.99942912 -0.55713394] [ 0. 0. 0. 1. ]] SLAMing on 37.86719347 meters Centerline goodness : 0.866134 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.56 [[ 0.99808517 -0.05465786 -0.02895712 3.42143344] [ 0.05509701 0.9983744 0.01459045 -0.02751233] [ 0.02811256 -0.01615796 0.99947416 -0.55711974] [ 0. 0. 0. 1. ]] SLAMing on 37.89719347 meters Centerline goodness : 0.867142 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.56 [[ 0.99796542 -0.05642101 -0.02969314 3.4250019 ] [ 0.05684373 0.99829059 0.01358978 -0.03182001] [ 0.02887563 -0.01525 0.99946668 -0.5592418 ] [ 0. 0. 0. 1. ]] SLAMing on 37.92719347 meters Centerline goodness : 0.868552 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.56 [[ 0.99797673 -0.05611149 -0.02989905 3.42579545] [ 0.05656334 0.99829391 0.01448666 -0.03438363] [ 0.02903517 -0.01614854 0.99944794 -0.55965304] [ 0. 0. 0. 1. ]] SLAMing on 37.95719346999999 meters Centerline goodness : 0.862732 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.04, Z:-0.56 [[ 0.99792989 -0.05671655 -0.03031793 3.4282975 ] [ 0.05717379 0.99825991 0.01443274 -0.03767621] [ 0.0294466 -0.01613625 0.9994361 -0.56130418] [ 0. 0. 0. 1. ]] SLAMing on 37.987193469999994 meters Centerline goodness : 0.862145 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.05, Z:-0.57 [[ 0.99772348 -0.05971369 -0.03133899 3.43493812] [ 0.06011973 0.99811689 0.01217743 -0.0454839 ] [ 0.03055281 -0.0140338 0.99943463 -0.56591904] [ 0. 0. 0. 1. ]] SLAMing on 38.017193469999995 meters Centerline goodness : 0.863164 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.05, Z:-0.57 [[ 0.99769861 -0.05963843 -0.03226066 3.43976617] [ 0.06006984 0.998115 0.01257208 -0.04765475] [ 0.03145007 -0.01448103 0.99940042 -0.56935129] [ 0. 0. 0. 1. ]] SLAMing on 38.047193469999996 meters Centerline goodness : 0.863491 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.05, Z:-0.57 [[ 0.99771623 -0.05920132 -0.03251965 3.4406108 ] [ 0.05965429 0.99813262 0.01313929 -0.047842 ] [ 0.03168106 -0.01504922 0.99938473 -0.56987597] [ 0. 0. 0. 1. ]] SLAMing on 38.07719347 meters Centerline goodness : 0.867711 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 0.99801361 -0.05635034 -0.02816867 3.44887694] [ 0.05658064 0.99837027 0.00744582 -0.0473881 ] [ 0.02770319 -0.00902483 0.99957545 -0.56973797] [ 0. 0. 0. 1. ]] SLAMing on 38.10719347 meters Centerline goodness : 0.863988 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 0.99788096 -0.05882524 -0.02780625 3.44679044] [ 0.05898926 0.99824551 0.0051147 -0.04904643] [ 0.02745659 -0.00674413 0.99960025 -0.56747546] [ 0. 0. 0. 1. ]] SLAMing on 38.13719346999999 meters Centerline goodness : 0.865630 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 9.97643055e-01 -6.28332904e-02 -2.75737801e-02 3.44629770e+00] [ 6.29033277e-02 9.98018212e-01 1.67912458e-03 -5.12965474e-02] [ 2.74136298e-02 -3.40964950e-03 9.99618361e-01 -5.66637263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167193469999994 meters Centerline goodness : 0.866617 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.05, Z:-0.57 [[ 9.97064090e-01 -7.37551970e-02 -2.05760119e-02 3.45467434e+00] [ 7.38016133e-02 9.97271807e-01 1.50464970e-03 -5.47756089e-02] [ 2.04089009e-02 -3.01877506e-03 9.99787159e-01 -5.68609616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197193469999995 meters Centerline goodness : 0.865772 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.05, Z:-0.57 [[ 9.96706896e-01 -7.84855970e-02 -2.03807366e-02 3.45515900e+00] [ 7.84427206e-02 9.96914416e-01 -2.89599795e-03 -5.40391566e-02] [ 2.05451442e-02 1.28774071e-03 9.99788097e-01 -5.68820257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227193469999996 meters Centerline goodness : 0.865220 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.05, Z:-0.57 [[ 9.96639369e-01 -7.93030247e-02 -2.05182508e-02 3.45572419e+00] [ 7.92541372e-02 9.96849352e-01 -3.18620921e-03 -5.42098807e-02] [ 2.07062811e-02 1.54934527e-03 9.99784401e-01 -5.68960334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25719347 meters Centerline goodness : 0.865220 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-0.57 [[ 0.99687642 -0.07758055 -0.01478757 3.46532205] [ 0.07742618 0.99694023 -0.01074106 -0.04972724] [ 0.01557562 0.00956256 0.99983296 -0.57163501] [ 0. 0. 0. 1. ]] SLAMing on 38.28719347 meters Centerline goodness : 0.864320 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-0.57 [[ 0.99713207 -0.07415163 -0.01513865 3.4664096 ] [ 0.07404587 0.99722715 -0.00743154 -0.04904108] [ 0.01564773 0.00628927 0.99985779 -0.57274272] [ 0. 0. 0. 1. ]] SLAMing on 38.31719346999999 meters Centerline goodness : 0.864036 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:-0.58 [[ 0.99748266 -0.06992836 -0.01176304 3.47994184] [ 0.06977674 0.99747999 -0.01284057 -0.04569111] [ 0.01263131 0.01198746 0.99984836 -0.57725 ] [ 0. 0. 0. 1. ]] SLAMing on 38.34719346999999 meters Centerline goodness : 0.863234 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:-0.58 [[ 0.99774671 -0.06594561 -0.01235675 3.48138892] [ 0.06583517 0.99778864 -0.00914106 -0.04483979] [ 0.01293223 0.00830696 0.99988187 -0.57827871] [ 0. 0. 0. 1. ]] SLAMing on 38.377193469999995 meters Centerline goodness : 0.862563 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 0.9982083 -0.05723498 -0.01744542 3.4927921 ] [ 0.05708546 0.99832916 -0.00895193 -0.03943474] [ 0.01792863 0.00794002 0.99980774 -0.57739291] [ 0. 0. 0. 1. ]] SLAMing on 38.407193469999996 meters Centerline goodness : 0.864549 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 0.9984161 -0.05334491 -0.01787778 3.49359254] [ 0.05325062 0.99856486 -0.00570955 -0.03745036] [ 0.0181567 0.00474851 0.99982388 -0.57755079] [ 0. 0. 0. 1. ]] SLAMing on 38.43719347 meters Centerline goodness : 0.863765 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 9.98603373e-01 -4.95062723e-02 -1.84507857e-02 3.49473505e+00] [ 4.94761543e-02 9.98773128e-01 -2.08553538e-03 -3.64190810e-02] [ 1.85313960e-02 1.16974874e-03 9.99827595e-01 -5.78073641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46719347 meters Centerline goodness : 0.860645 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.58 [[ 9.98804874e-01 -4.51342459e-02 -1.87543067e-02 3.49523550e+00] [ 4.51798915e-02 9.98976831e-01 2.01713099e-03 -3.59345616e-02] [ 1.86440762e-02 -2.86203780e-03 9.99822088e-01 -5.78359413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49719347 meters Centerline goodness : 0.863263 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.58 [[ 9.98815455e-01 -4.48346341e-02 -1.89087834e-02 3.49545040e+00] [ 4.48862792e-02 9.98989419e-01 2.31555589e-03 -3.66280791e-02] [ 1.87858574e-02 -3.16155794e-03 9.99818532e-01 -5.78210341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52719346999999 meters Centerline goodness : 0.863411 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.04, Z:-0.58 [[ 9.98836943e-01 -4.43690145e-02 -1.88720090e-02 3.49477725e+00] [ 4.44318444e-02 9.99008142e-01 2.92289274e-03 -3.80116546e-02] [ 1.87236048e-02 -3.75801142e-03 9.99817635e-01 -5.77276692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557193469999994 meters Centerline goodness : 0.864125 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 0.99904293 -0.0410111 -0.01520904 3.49820079] [ 0.04094003 0.99914932 -0.00495555 -0.03527747] [ 0.01539934 0.00432815 0.99987206 -0.57384545] [ 0. 0. 0. 1. ]] SLAMing on 38.587193469999995 meters Centerline goodness : 0.863498 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99207032e-01 -3.67039234e-02 -1.54314270e-02 3.49820942e+00] [ 3.66992864e-02 9.99326184e-01 -5.83653537e-04 -3.55250150e-02] [ 1.54424514e-02 1.68683600e-05 9.99880758e-01 -5.73613455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61719347 meters Centerline goodness : 0.863777 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 0.99936113 -0.03225168 -0.01540018 3.49765122] [ 0.03231055 0.99947143 0.00358914 -0.03558731] [ 0.01527628 -0.00408444 0.99987497 -0.57299898] [ 0. 0. 0. 1. ]] SLAMing on 38.64719347 meters Centerline goodness : 0.861511 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99728950e-01 -1.94692359e-02 -1.27661789e-02 3.49547288e+00] [ 1.94461215e-02 9.99809039e-01 -1.93224769e-03 -3.59835588e-02] [ 1.28013605e-02 1.68347129e-03 9.99916642e-01 -5.72112411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67719347 meters Centerline goodness : 0.862538 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99754657e-01 -1.81133475e-02 -1.27488259e-02 3.49583333e+00] [ 1.81038315e-02 9.99835741e-01 -8.61443358e-04 -3.77420224e-02] [ 1.27623354e-02 6.30429413e-04 9.99918359e-01 -5.72562268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70719346999999 meters Centerline goodness : 0.861639 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 9.99780955e-01 -1.63538748e-02 -1.30611151e-02 3.49751114e+00] [ 1.63667197e-02 9.99865672e-01 8.77157945e-04 -4.05488620e-02] [ 1.30450157e-02 -1.09073342e-03 9.99914315e-01 -5.73930952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737193469999994 meters Centerline goodness : 0.860643 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.57 [[ 0.99981934 -0.01415777 -0.01268214 3.49734258] [ 0.0142033 0.99989298 0.00350777 -0.04470044] [ 0.01263112 -0.00368726 0.99991343 -0.57451671] [ 0. 0. 0. 1. ]] SLAMing on 38.767193469999995 meters Centerline goodness : 0.860817 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.58 [[ 0.99983407 -0.01247011 -0.01327885 3.50024461] [ 0.01254531 0.99990565 0.00559524 -0.0472692 ] [ 0.01320783 -0.0057609 0.99989618 -0.57668894] [ 0. 0. 0. 1. ]] SLAMing on 38.797193469999996 meters Centerline goodness : 0.860619 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.58 [[ 0.99983852 -0.01178311 -0.01356831 3.50198389] [ 0.01187738 0.99990573 0.00688834 -0.05064905] [ 0.01348586 -0.00704838 0.99988422 -0.57816665] [ 0. 0. 0. 1. ]] SLAMing on 38.82719347 meters Centerline goodness : 0.858515 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.58 [[ 0.99981373 -0.0131603 -0.01411814 3.50468858] [ 0.01324225 0.99989592 0.005727 -0.0549554 ] [ 0.0140413 -0.00591289 0.99988393 -0.58011486] [ 0. 0. 0. 1. ]] SLAMing on 38.85719347 meters Centerline goodness : 0.860534 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.07, Z:-0.58 [[ 0.99977973 -0.0113948 -0.017625 3.51421057] [ 0.01146944 0.99992565 0.00413979 -0.07045948] [ 0.01757652 -0.00434103 0.9998361 -0.58030807] [ 0. 0. 0. 1. ]] SLAMing on 38.88719346999999 meters Centerline goodness : 0.857586 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.08, Z:-0.58 [[ 9.99755729e-01 -1.29837669e-02 -1.78858815e-02 3.51534013e+00] [ 1.30435523e-02 9.99909712e-01 3.23000646e-03 -7.70832769e-02] [ 1.78423290e-02 -3.46251290e-03 9.99834818e-01 -5.80842654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917193469999994 meters Centerline goodness : 0.860560 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.08, Z:-0.58 [[ 9.99749223e-01 -1.39859354e-02 -1.74895717e-02 3.51373796e+00] [ 1.40404309e-02 9.99896937e-01 2.99698413e-03 -8.35187727e-02] [ 1.74458536e-02 -3.24179368e-03 9.99842554e-01 -5.79536146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947193469999995 meters Centerline goodness : 0.859941 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.10, Z:-0.58 [[ 0.99978952 -0.01094422 -0.01735343 3.5138599 ] [ 0.01108383 0.99990681 0.00796936 -0.0964161 ] [ 0.0172646 -0.00816002 0.99981766 -0.57944878] [ 0. 0. 0. 1. ]] SLAMing on 38.977193469999996 meters Centerline goodness : 0.861973 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.10, Z:-0.58 [[ 0.9997737 -0.01238665 -0.01729523 3.51374217] [ 0.01251661 0.99989409 0.00742651 -0.10288096] [ 0.01720141 -0.0076413 0.99982285 -0.57915966] [ 0. 0. 0. 1. ]] SLAMing on 39.00719347 meters Centerline goodness : 0.860733 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.11, Z:-0.58 [[ 0.99974107 -0.01435939 -0.01765233 3.5156426 ] [ 0.01448213 0.9998717 0.00684465 -0.11139688] [ 0.01755178 -0.00709852 0.99982076 -0.58024491] [ 0. 0. 0. 1. ]] SLAMing on 39.03719347 meters Centerline goodness : 0.860733 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.11, Z:-0.58 [[ 0.99974107 -0.01435939 -0.01765233 3.5156426 ] [ 0.01448213 0.9998717 0.00684465 -0.11139688] [ 0.01755178 -0.00709852 0.99982076 -0.58024491] [ 0. 0. 0. 1. ]] SLAMing on 39.06719346999999 meters Centerline goodness : 0.858403 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.13, Z:-0.58 [[ 0.99954344 -0.0244375 -0.01776858 3.51739672] [ 0.02457764 0.99966818 0.00771177 -0.13496982] [ 0.01757423 -0.00814496 0.99981239 -0.57951461] [ 0. 0. 0. 1. ]] SLAMing on 39.09719346999999 meters Centerline goodness : 0.858981 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.14, Z:-0.58 [[ 0.99937545 -0.03073047 -0.01744576 3.51723568] [ 0.03079798 0.9995191 0.00361415 -0.14469397] [ 0.01732631 -0.00414919 0.99984128 -0.57901503] [ 0. 0. 0. 1. ]] SLAMing on 39.127193469999995 meters Centerline goodness : 0.858966 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.15, Z:-0.58 [[ 9.99177907e-01 -3.67853921e-02 -1.70394977e-02 3.51676839e+00] [ 3.67809331e-02 9.99323187e-01 -5.75105930e-04 -1.53588770e-01] [ 1.70491207e-02 -5.20954870e-05 9.99854652e-01 -5.78290606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157193469999996 meters Centerline goodness : 0.857738 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.16, Z:-0.58 [[ 0.99894625 -0.04260833 -0.01705636 3.51808628] [ 0.04253331 0.99908382 -0.00473763 -0.16211777] [ 0.01724259 0.00400717 0.99984331 -0.57885758] [ 0. 0. 0. 1. ]] SLAMing on 39.18719347 meters Centerline goodness : 0.859646 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.18, Z:-0.58 [[ 9.98644372e-01 -4.90023815e-02 -1.75551962e-02 3.52029302e+00] [ 4.89636239e-02 9.98797097e-01 -2.63107228e-03 -1.82869988e-01] [ 1.76630079e-02 1.76793950e-03 9.99842434e-01 -5.78420286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21719347 meters Centerline goodness : 0.859343 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.19, Z:-0.58 [[ 9.98537308e-01 -5.10540154e-02 -1.77969576e-02 3.52223534e+00] [ 5.10074190e-02 9.98693578e-01 -3.06268166e-03 -1.90913975e-01] [ 1.79300695e-02 2.15042502e-03 9.99836931e-01 -5.79474614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24719347 meters Centerline goodness : 0.858689 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.20, Z:-0.58 [[ 9.98456570e-01 -5.23499005e-02 -1.85462965e-02 3.52574324e+00] [ 5.22977669e-02 9.98626132e-01 -3.28527110e-03 -1.97390599e-01] [ 1.86928000e-02 2.31027062e-03 9.99822605e-01 -5.81611589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27719346999999 meters Centerline goodness : 0.856801 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.21, Z:-0.59 [[ 9.98434453e-01 -5.23214885e-02 -1.97763577e-02 3.53279258e+00] [ 5.23034830e-02 9.98630217e-01 -1.42695424e-03 -2.09845744e-01] [ 1.98239287e-02 3.90347889e-04 9.99803410e-01 -5.87023279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307193469999994 meters Centerline goodness : 0.856627 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.59 [[ 9.98390809e-01 -5.27958085e-02 -2.06976893e-02 3.53666058e+00] [ 5.27856770e-02 9.98605327e-01 -1.03590197e-03 -2.15533099e-01] [ 2.07235141e-02 -5.83065401e-05 9.99785243e-01 -5.89476063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337193469999995 meters Centerline goodness : 0.853993 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.22, Z:-0.59 [[ 9.98377137e-01 -5.27419746e-02 -2.14796712e-02 3.54002897e+00] [ 5.27491433e-02 9.98607768e-01 -2.33096881e-04 -2.21646801e-01] [ 2.14620605e-02 -9.00315660e-04 9.99769258e-01 -5.91478791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36719347 meters Centerline goodness : 0.855287 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.23, Z:-0.59 [[ 9.98353017e-01 -5.30409264e-02 -2.18612556e-02 3.54201926e+00] [ 5.30715871e-02 9.98590370e-01 8.24325618e-04 -2.31952070e-01] [ 2.17867163e-02 -1.98317950e-03 9.99760674e-01 -5.92372127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39719347 meters Centerline goodness : 0.858469 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.24, Z:-0.59 [[ 9.98371596e-01 -5.25656337e-02 -2.21587563e-02 3.54264630e+00] [ 5.26271984e-02 9.98611797e-01 2.20400952e-03 -2.36821480e-01] [ 2.20121402e-02 -3.36657376e-03 9.99752035e-01 -5.92115340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42719347 meters Centerline goodness : 0.856633 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.25, Z:-0.59 [[ 9.98538523e-01 -5.21542713e-02 -1.41686166e-02 3.55138766e+00] [ 5.21599833e-02 9.98638741e-01 3.36610660e-05 -2.47185138e-01] [ 1.41475739e-02 -7.72646677e-04 9.99899620e-01 -5.88960852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45719346999999 meters Centerline goodness : 0.855330 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.25, Z:-0.59 [[ 0.99871599 -0.05011275 -0.00742221 3.56100219] [ 0.05006191 0.99872239 -0.00688415 -0.25103769] [ 0.00775771 0.00650375 0.99994876 -0.59149627] [ 0. 0. 0. 1. ]] SLAMing on 39.487193469999994 meters Centerline goodness : 0.857131 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.26, Z:-0.59 [[ 0.99877144 -0.04896638 -0.00760925 3.56081218] [ 0.04893117 0.99879087 -0.00474722 -0.25657155] [ 0.0078325 0.00436906 0.99995978 -0.59056143] [ 0. 0. 0. 1. ]] SLAMing on 39.517193469999995 meters Centerline goodness : 0.856840 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.27, Z:-0.59 [[ 9.98853287e-01 -4.73091598e-02 -7.34538950e-03 3.56047180e+00] [ 4.73014698e-02 9.98879917e-01 -1.21723123e-03 -2.67320246e-01] [ 7.39474824e-03 8.68387699e-04 9.99972281e-01 -5.90029249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547193469999996 meters Centerline goodness : 0.856419 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.27, Z:-0.59 [[ 9.98877558e-01 -4.67470811e-02 -7.63775399e-03 3.56124527e+00] [ 4.67537811e-02 9.98906198e-01 7.00948190e-04 -2.73493136e-01] [ 7.59663252e-03 -1.05725529e-03 9.99970586e-01 -5.89895919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57719347 meters Centerline goodness : 0.855587 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.28, Z:-0.59 [[ 9.98753841e-01 -4.93044714e-02 -7.73526480e-03 3.56253211e+00] [ 4.92984252e-02 9.98783622e-01 -9.70491149e-04 -2.78693320e-01] [ 7.77370535e-03 5.87945390e-04 9.99969611e-01 -5.90670012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60719347 meters Centerline goodness : 0.856903 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.28, Z:-0.59 [[ 9.98625049e-01 -5.17915303e-02 -8.10238447e-03 3.56532153e+00] [ 5.17739520e-02 9.98656030e-01 -2.36457499e-03 -2.84080204e-01] [ 8.21396007e-03 1.94183135e-03 9.99964379e-01 -5.92661445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63719346999999 meters Centerline goodness : 0.856953 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.29, Z:-0.60 [[ 9.98398864e-01 -5.58636062e-02 -8.88627926e-03 3.57060862e+00] [ 5.58307303e-02 9.98432609e-01 -3.90583688e-03 -2.92916787e-01] [ 9.09054512e-03 3.40345564e-03 9.99952888e-01 -5.96658379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667193469999994 meters Centerline goodness : 0.855556 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.30, Z:-0.60 [[ 0.99832391 -0.0570709 -0.00960688 3.57346865] [ 0.05703239 0.99836334 -0.00423536 -0.29780594] [ 0.00983287 0.00368036 0.99994488 -0.59807487] [ 0. 0. 0. 1. ]] SLAMing on 39.697193469999995 meters Centerline goodness : 0.855300 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.30, Z:-0.60 [[ 0.99812635 -0.06041156 -0.00970721 3.57409217] [ 0.06034539 0.99815322 -0.0069708 -0.30172902] [ 0.0101104 0.00637195 0.99992859 -0.59791253] [ 0. 0. 0. 1. ]] SLAMing on 39.727193469999996 meters Centerline goodness : 0.856479 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.60 [[ 0.99792528 -0.06362672 -0.00983754 3.57487976] [ 0.06353172 0.99793281 -0.00968636 -0.3058713 ] [ 0.01043352 0.00904127 0.99990469 -0.59788052] [ 0. 0. 0. 1. ]] SLAMing on 39.75719347 meters Centerline goodness : 0.857098 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.31, Z:-0.60 [[ 0.99773632 -0.06651995 -0.00986614 3.57632841] [ 0.06640856 0.99772945 -0.01121856 -0.31323058] [ 0.01059 0.01053797 0.9998884 -0.59860097] [ 0. 0. 0. 1. ]] SLAMing on 39.78719347 meters Centerline goodness : 0.858040 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99771167 -0.06682685 -0.01027607 3.57808506] [ 0.06671784 0.99771548 -0.0106088 -0.31592751] [ 0.01096155 0.00989893 0.99989092 -0.59962545] [ 0. 0. 0. 1. ]] SLAMing on 39.81719346999999 meters Centerline goodness : 0.860570 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99763092 -0.06792189 -0.01091665 3.58117296] [ 0.06780334 0.99763932 -0.01088587 -0.31778729] [ 0.01163026 0.0101199 0.99988116 -0.60165508] [ 0. 0. 0. 1. ]] SLAMing on 39.84719346999999 meters Centerline goodness : 0.857449 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99710067 -0.07532983 -0.0107552 3.58424403] [ 0.07514366 0.9970316 -0.01677545 -0.32095634] [ 0.01198697 0.01591863 0.99980144 -0.60409544] [ 0. 0. 0. 1. ]] SLAMing on 39.877193469999995 meters Centerline goodness : 0.860181 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.60 [[ 0.99676563 -0.07966801 -0.01054886 3.58422518] [ 0.07944284 0.99663318 -0.0202764 -0.32313333] [ 0.01212873 0.01937279 0.99973876 -0.6033947 ] [ 0. 0. 0. 1. ]] SLAMing on 39.907193469999996 meters Centerline goodness : 0.858679 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.33, Z:-0.60 [[ 0.99641363 -0.08398334 -0.01032823 3.58390705] [ 0.0837196 0.99620612 -0.02375717 -0.32561152] [ 0.01228426 0.0228073 0.99966441 -0.60219959] [ 0. 0. 0. 1. ]] SLAMing on 39.93719347 meters Centerline goodness : 0.861804 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.33, Z:-0.60 [[ 0.99560971 -0.0931176 -0.00950867 3.58361198] [ 0.09277159 0.99517422 -0.03196403 -0.32764113] [ 0.0124392 0.03094156 0.99944379 -0.60116754] [ 0. 0. 0. 1. ]] SLAMing on 39.96719347 meters Centerline goodness : 0.861959 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.33, Z:-0.60 [[ 0.99552839 -0.09396211 -0.0097136 3.58464233] [ 0.09360113 0.99507543 -0.03261477 -0.32685218] [ 0.01273032 0.03155972 0.99942079 -0.60176198] [ 0. 0. 0. 1. ]] SLAMing on 39.99719347 meters Centerline goodness : 0.862233 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.60 [[ 0.99572408 -0.091797 -0.01033756 3.58677127] [ 0.09145074 0.99535528 -0.03007713 -0.3249067 ] [ 0.01305054 0.02900315 0.99949412 -0.60337037] [ 0. 0. 0. 1. ]] SLAMing on 40.02719346999999 meters Centerline goodness : 0.861619 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.61 [[ 0.99588082 -0.08996904 -0.01126761 3.58995326] [ 0.08962118 0.99557393 -0.02829486 -0.32081943] [ 0.0137634 0.02716849 0.99953611 -0.605697 ] [ 0. 0. 0. 1. ]] SLAMing on 40.057193469999994 meters Centerline goodness : 0.860847 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.31, Z:-0.61 [[ 0.99618508 -0.08623784 -0.01335362 3.59594678] [ 0.0858989 0.99601087 -0.02416025 -0.3114904 ] [ 0.01538388 0.02292102 0.99961891 -0.60881622] [ 0. 0. 0. 1. ]] SLAMing on 40.087193469999995 meters Centerline goodness : 0.860504 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.61 [[ 0.99640427 -0.0835179 -0.01425785 3.61709164] [ 0.08311477 0.99617824 -0.02684853 -0.30692826] [ 0.0164457 0.02556695 0.99953783 -0.61078532] [ 0. 0. 0. 1. ]] SLAMing on 40.11719347 meters Centerline goodness : 0.861777 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.29, Z:-0.61 [[ 0.99662265 -0.0813993 -0.01083727 3.634197 ] [ 0.08100816 0.99617895 -0.03263716 -0.29478767] [ 0.01345251 0.03164903 0.99940851 -0.61347353] [ 0. 0. 0. 1. ]] SLAMing on 40.14719347 meters Centerline goodness : 0.863484 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.29, Z:-0.61 [[ 0.99689053 -0.07840394 -0.00787934 3.65118971] [ 0.07806691 0.99627804 -0.03654624 -0.28658581] [ 0.01071538 0.03581749 0.9993009 -0.61497092] [ 0. 0. 0. 1. ]] SLAMing on 40.17719347 meters Centerline goodness : 0.862819 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.28, Z:-0.62 [[ 0.9972815 -0.07352994 -0.00479225 3.66816038] [ 0.07329637 0.99658754 -0.03795935 -0.27896336] [ 0.00756704 0.03750491 0.99926779 -0.61622247] [ 0. 0. 0. 1. ]] SLAMing on 40.20719346999999 meters Centerline goodness : 0.861158 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.27, Z:-0.62 [[ 9.97691106e-01 -6.78885688e-02 -1.89707454e-03 3.68529557e+00] [ 6.77641920e-02 9.96947127e-01 -3.87871070e-02 -2.71351042e-01] [ 4.52448420e-03 3.85689979e-02 9.99245696e-01 -6.17801105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237193469999994 meters Centerline goodness : 0.862231 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.25, Z:-0.62 [[ 9.98280396e-01 -5.86161100e-02 6.34329333e-04 3.70363821e+00] [ 5.85996211e-02 9.97600627e-01 -3.68656135e-02 -2.54962060e-01] [ 1.52811151e-03 3.68393907e-02 9.99320031e-01 -6.20733961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267193469999995 meters Centerline goodness : 0.863672 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.25, Z:-0.62 [[ 9.98590721e-01 -5.30106475e-02 2.53838369e-03 3.72212001e+00] [ 5.30687757e-02 9.97873248e-01 -3.78508287e-02 -2.46249417e-01] [-5.26488237e-04 3.79321952e-02 9.99280177e-01 -6.23059412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297193469999996 meters Centerline goodness : 0.863957 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.23, Z:-0.63 [[ 9.98986394e-01 -4.48316772e-02 4.03786450e-03 3.74224411e+00] [ 4.49530619e-02 9.98264237e-01 -3.80491120e-02 -2.29561417e-01] [-2.32505021e-03 3.81920596e-02 9.99267712e-01 -6.26105966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32719347 meters Centerline goodness : 0.870741 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.63 [[ 0.99922104 -0.03889464 0.00667167 3.75990639] [ 0.03912281 0.99849639 -0.03839752 -0.22213975] [-0.00516818 0.03862862 0.99924027 -0.62772646] [ 0. 0. 0. 1. ]] SLAMing on 40.35719347 meters Centerline goodness : 0.867088 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.21, Z:-0.63 [[ 0.99946328 -0.03221005 0.00597148 3.78479559] [ 0.03245763 0.99834521 -0.04746945 -0.21489182] [-0.0044326 0.04763779 0.99885484 -0.62530809] [ 0. 0. 0. 1. ]] SLAMing on 40.38719346999999 meters Centerline goodness : 0.869475 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.21, Z:-0.63 [[ 0.99951801 -0.02965751 0.00917494 3.80171162] [ 0.03008122 0.99828956 -0.05013067 -0.20978412] [-0.0076725 0.0503825 0.99870052 -0.62589551] [ 0. 0. 0. 1. ]] SLAMing on 40.417193469999994 meters Centerline goodness : 0.870108 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.20, Z:-0.62 [[ 0.99953016 -0.02860069 0.01102043 3.82569511] [ 0.02909216 0.99845371 -0.04736906 -0.20081299] [-0.0096486 0.04766742 0.99881666 -0.62419322] [ 0. 0. 0. 1. ]] SLAMing on 40.447193469999995 meters Centerline goodness : 0.868303 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.20, Z:-0.62 [[ 0.99961707 -0.02553232 0.0106684 3.8263932 ] [ 0.02598409 0.99866673 -0.04460491 -0.19765267] [-0.00951531 0.04486503 0.99894774 -0.6240513 ] [ 0. 0. 0. 1. ]] SLAMing on 40.477193469999996 meters Centerline goodness : 0.870500 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.99966097 -0.02207089 0.01381411 3.84381812] [ 0.02267861 0.99870678 -0.04550227 -0.19343741] [-0.01279197 0.04580013 0.99886872 -0.62481121] [ 0. 0. 0. 1. ]] SLAMing on 40.50719347 meters Centerline goodness : 0.868414 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.99973824 -0.01853121 0.013418 3.84393148] [ 0.01907896 0.99893902 -0.04191459 -0.19251528] [-0.01262704 0.04215962 0.99903109 -0.62382604] [ 0. 0. 0. 1. ]] SLAMing on 40.53719347 meters Centerline goodness : 0.873010 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.9997805 -0.01592501 0.01361409 3.8413853 ] [ 0.01645803 0.99906493 -0.03997998 -0.18970957] [-0.01296468 0.04019527 0.99910773 -0.62059892] [ 0. 0. 0. 1. ]] SLAMing on 40.56719346999999 meters Centerline goodness : 0.869313 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-0.62 [[ 0.99982859 -0.0128818 0.01329869 3.84184202] [ 0.01336309 0.99923478 -0.03675976 -0.18816415] [-0.01281499 0.03693117 0.99923564 -0.62028101] [ 0. 0. 0. 1. ]] SLAMing on 40.59719346999999 meters Centerline goodness : 0.874228 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.18, Z:-0.62 [[ 0.99983967 -0.00974429 0.0150225 3.86156768] [ 0.01029606 0.9992585 -0.03710034 -0.17938769] [-0.01464985 0.03724906 0.99919862 -0.62219901] [ 0. 0. 0. 1. ]] SLAMing on 40.627193469999995 meters Centerline goodness : 0.872696 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.18, Z:-0.62 [[ 0.99986281 -0.00838297 0.01428574 3.86426678] [ 0.00888497 0.99933208 -0.03544645 -0.17759697] [-0.01397905 0.03556852 0.99926947 -0.62353004] [ 0. 0. 0. 1. ]] SLAMing on 40.657193469999996 meters Centerline goodness : 0.873095 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-0.62 [[ 0.99986482 -0.00887593 0.01384046 3.86508772] [ 0.00936934 0.99930779 -0.03600225 -0.17695137] [-0.01351132 0.03612706 0.99925586 -0.6233252 ] [ 0. 0. 0. 1. ]] SLAMing on 40.68719347 meters Centerline goodness : 0.873487 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-0.62 [[ 0.99985949 -0.01005353 0.01341404 3.86603674] [ 0.01054617 0.99925312 -0.03717497 -0.17637218] [-0.01303029 0.03731121 0.99921874 -0.62314659] [ 0. 0. 0. 1. ]] SLAMing on 40.71719347 meters Centerline goodness : 0.873466 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.18, Z:-0.62 [[ 0.99989265 -0.00845094 0.01196916 3.88769209] [ 0.00889332 0.99926071 -0.03740243 -0.17529298] [-0.01164422 0.03750486 0.9992286 -0.6248642 ] [ 0. 0. 0. 1. ]] SLAMing on 40.74719347 meters Centerline goodness : 0.879466 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.17, Z:-0.63 [[ 0.99991667 -0.00664667 0.01106678 3.89130714] [ 0.00703197 0.99935734 -0.03514913 -0.17372528] [-0.01082604 0.03522403 0.9993208 -0.62731944] [ 0. 0. 0. 1. ]] SLAMing on 40.77719346999999 meters Centerline goodness : 0.871869 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.17, Z:-0.63 [[ 0.99995619 -0.00673252 0.00650327 3.90415363] [ 0.00692204 0.99953863 -0.02957382 -0.17087925] [-0.00630117 0.02961754 0.99954144 -0.62868324] [ 0. 0. 0. 1. ]] SLAMing on 40.807193469999994 meters Centerline goodness : 0.875354 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.17, Z:-0.63 [[ 9.99974535e-01 -3.88119448e-03 5.98879786e-03 3.90510446e+00] [ 4.03384614e-03 9.99661778e-01 -2.56915735e-02 -1.73264176e-01] [-5.88705832e-03 2.57150771e-02 9.99651978e-01 -6.28463654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837193469999995 meters Centerline goodness : 0.875566 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.18, Z:-0.63 [[ 9.99951797e-01 -1.88676204e-03 9.63558990e-03 3.92225146e+00] [ 2.13330071e-03 9.99668955e-01 -2.56404061e-02 -1.75354425e-01] [-9.58402274e-03 2.56597257e-02 9.99624792e-01 -6.28459961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86719347 meters Centerline goodness : 0.876413 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.18, Z:-0.63 [[ 9.99959687e-01 8.95913392e-04 8.93435295e-03 3.92455186e+00] [-6.94497922e-04 9.99746115e-01 -2.25216096e-02 -1.77528221e-01] [-8.95226206e-03 2.25144968e-02 9.99706434e-01 -6.29505169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89719347 meters Centerline goodness : 0.875788 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.63 [[ 0.99991471 0.01181986 0.00555544 3.96904207] [-0.01166609 0.99956896 -0.02694079 -0.17415954] [-0.00587148 0.02687369 0.99962159 -0.63020953] [ 0. 0. 0. 1. ]] SLAMing on 40.92719347 meters Centerline goodness : 0.875788 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.63 [[ 0.9999149 0.01178847 0.00558823 3.96900309] [-0.01163387 0.99956949 -0.02693477 -0.17416947] [-0.00590334 0.02686747 0.99962157 -0.63021732] [ 0. 0. 0. 1. ]] SLAMing on 40.95719346999999 meters Centerline goodness : 0.877847 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.63 [[ 9.99865586e-01 1.60590201e-02 3.30408547e-03 3.95121400e+00] [-1.59782546e-02 9.99603872e-01 -2.31688239e-02 -1.71118803e-01] [-3.67484524e-03 2.31129162e-02 9.99726107e-01 -6.29903519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987193469999994 meters Centerline goodness : 0.877475 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.63 [[ 9.99787103e-01 2.03957821e-02 3.12424802e-03 3.95173497e+00] [-2.03326768e-02 9.99611771e-01 -1.90496433e-02 -1.70780947e-01] [-3.51156747e-03 1.89820633e-02 9.99813658e-01 -6.29841252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017193469999995 meters Centerline goodness : 0.868106 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.17, Z:-0.63 [[ 9.99789064e-01 2.05307744e-02 -5.61628831e-04 3.93474888e+00] [-2.05376623e-02 9.99616844e-01 -1.85572036e-02 -1.74539859e-01] [ 1.80419879e-04 1.85648238e-02 9.99827643e-01 -6.29873062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047193469999996 meters Centerline goodness : 0.869077 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.63 [[ 9.99790987e-01 2.04352145e-02 -6.19421407e-04 3.93522013e+00] [-2.04429825e-02 9.99634058e-01 -1.77153560e-02 -1.78114259e-01] [ 2.57177636e-04 1.77243161e-02 9.99842879e-01 -6.30298709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07719347 meters Centerline goodness : 0.872107 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.63 [[ 9.99819702e-01 1.89514619e-02 -1.18521477e-03 3.93730818e+00] [-1.89698485e-02 9.99655576e-01 -1.81348768e-02 -1.81445459e-01] [ 8.41124123e-04 1.81540904e-02 9.99834847e-01 -6.31470793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10719347 meters Centerline goodness : 0.870888 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.63 [[ 9.99885687e-01 1.50621757e-02 -1.32020796e-03 3.93724193e+00] [-1.50869457e-02 9.99658077e-01 -2.13568080e-02 -1.83559643e-01] [ 9.98076552e-04 2.13742845e-02 9.99771046e-01 -6.31086600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13719346999999 meters Centerline goodness : 0.873310 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.63 [[ 9.99969516e-01 7.67773761e-03 -1.42095585e-03 3.93647058e+00] [-7.71371664e-03 9.99596578e-01 -2.73345978e-02 -1.89320224e-01] [ 1.21051473e-03 2.73447253e-02 9.99625330e-01 -6.29862903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167193469999994 meters Centerline goodness : 0.874686 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.63 [[ 9.99975111e-01 6.82549481e-03 -1.78594407e-03 3.93763815e+00] [-6.87138214e-03 9.99609361e-01 -2.70907767e-02 -1.92760080e-01] [ 1.60033846e-03 2.71023744e-02 9.99631382e-01 -6.30362745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197193469999995 meters Centerline goodness : 0.873879 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.63 [[ 9.99978515e-01 6.19213664e-03 -2.15102159e-03 3.93873347e+00] [-6.24772154e-03 9.99619285e-01 -2.68747210e-02 -1.94850647e-01] [ 1.98379072e-03 2.68875826e-02 9.99636495e-01 -6.30851334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227193469999996 meters Centerline goodness : 0.870692 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.20, Z:-0.63 [[ 9.99992080e-01 2.59188675e-03 -3.02013776e-03 3.94324976e+00] [-2.68064825e-03 9.99553293e-01 -2.97662209e-02 -1.95945450e-01] [ 2.94163798e-03 2.97740811e-02 9.99552325e-01 -6.34411620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25719347 meters Centerline goodness : 0.873449 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.20, Z:-0.64 [[ 9.99992290e-01 6.87616423e-04 -3.86621753e-03 3.94675886e+00] [-8.07715804e-04 9.99514440e-01 -3.11485402e-02 -1.96186114e-01] [ 3.84292200e-03 3.11514228e-02 9.99507289e-01 -6.36676135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28719347 meters Centerline goodness : 0.875195 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.20, Z:-0.64 [[ 9.99988670e-01 -1.24197459e-03 -4.59537096e-03 3.94968062e+00] [ 1.09209817e-03 9.99471963e-01 -3.24746327e-02 -1.96434460e-01] [ 4.63327710e-03 3.24692462e-02 9.99461996e-01 -6.38435684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31719346999999 meters Centerline goodness : 0.875266 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.64 [[ 0.99994701 -0.00670492 -0.00781114 3.95564171] [ 0.00643711 0.99940718 -0.03382088 -0.1948161 ] [ 0.00803327 0.0337688 0.99939739 -0.63563676] [ 0. 0. 0. 1. ]] SLAMing on 41.34719346999999 meters Centerline goodness : 0.874560 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.64 [[ 0.99993659 -0.00781952 -0.00810411 3.95600071] [ 0.00753393 0.99936968 -0.03469117 -0.19382881] [ 0.00837027 0.03462792 0.99936522 -0.63509263] [ 0. 0. 0. 1. ]] SLAMing on 41.377193469999995 meters Centerline goodness : 0.875275 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99992613 -0.00895728 -0.00821645 3.95567134] [ 0.00866062 0.99933366 -0.03545732 -0.19328413] [ 0.00852857 0.03538354 0.99933741 -0.63396057] [ 0. 0. 0. 1. ]] SLAMing on 41.407193469999996 meters Centerline goodness : 0.876081 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99991345 -0.01189416 -0.00562409 3.96061416] [ 0.01173143 0.99953538 -0.02813188 -0.19399254] [ 0.00595608 0.02806346 0.9995884 -0.63011794] [ 0. 0. 0. 1. ]] SLAMing on 41.43719347 meters Centerline goodness : 0.877351 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99989655 -0.01311681 -0.00590292 3.96090142] [ 0.01293923 0.99949049 -0.02917771 -0.19220293] [ 0.00628263 0.02909832 0.99955681 -0.62956429] [ 0. 0. 0. 1. ]] SLAMing on 41.46719347 meters Centerline goodness : 0.877898 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.19, Z:-0.63 [[ 0.99984781 -0.01634994 -0.00608563 3.96332498] [ 0.01614353 0.99933983 -0.0325469 -0.18555138] [ 0.00661375 0.0324437 0.99945168 -0.63176634] [ 0. 0. 0. 1. ]] SLAMing on 41.49719347 meters Centerline goodness : 0.872261 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.18, Z:-0.63 [[ 0.99981548 -0.01806964 -0.00651952 3.96588989] [ 0.01783486 0.9992479 -0.03443187 -0.18203954] [ 0.00713679 0.03430924 0.99938578 -0.6338561 ] [ 0. 0. 0. 1. ]] SLAMing on 41.52719346999999 meters Centerline goodness : 0.870050 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.18, Z:-0.64 [[ 0.99975406 -0.0211274 -0.00674224 3.96885431] [ 0.02085736 0.99906454 -0.03788154 -0.17509907] [ 0.00753627 0.0377316 0.99925949 -0.63670437] [ 0. 0. 0. 1. ]] SLAMing on 41.557193469999994 meters Centerline goodness : 0.869932 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.64 [[ 0.99972128 -0.02254175 -0.00701716 3.9705629 ] [ 0.02224562 0.998962 -0.03974997 -0.17097075] [ 0.00790591 0.03958279 0.99918502 -0.63804401] [ 0. 0. 0. 1. ]] SLAMing on 41.587193469999995 meters Centerline goodness : 0.872727 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.17, Z:-0.64 [[ 0.99972285 -0.02230497 -0.00753027 3.97362528] [ 0.02198954 0.9989716 -0.03965104 -0.16720768] [ 0.00840694 0.03947446 0.99918521 -0.64035234] [ 0. 0. 0. 1. ]] SLAMing on 41.61719347 meters Centerline goodness : 0.866338 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.16, Z:-0.64 [[ 0.99974598 -0.02098029 -0.00823378 3.97690851] [ 0.02063664 0.99899413 -0.03981022 -0.15779142] [ 0.00906073 0.03963019 0.99917333 -0.64269758] [ 0. 0. 0. 1. ]] SLAMing on 41.64719347 meters Centerline goodness : 0.869456 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.15, Z:-0.64 [[ 0.99977386 -0.01924484 -0.0090481 3.98006585] [ 0.01888131 0.99907331 -0.03867845 -0.15306769] [ 0.00978407 0.03849886 0.99921074 -0.64468833] [ 0. 0. 0. 1. ]] SLAMing on 41.67719347 meters Centerline goodness : 0.868457 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.15, Z:-0.65 [[ 0.99981032 -0.01697076 -0.00955553 3.98215964] [ 0.01660306 0.99916516 -0.03732733 -0.14704111] [ 0.01018103 0.0371616 0.99925741 -0.64597375] [ 0. 0. 0. 1. ]] SLAMing on 41.70719346999999 meters Centerline goodness : 0.870394 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:-0.65 [[ 0.99993707 -0.01018602 -0.00470083 3.9974318 ] [ 0.0100097 0.99929738 -0.03611853 -0.12965617] [ 0.00506543 0.0360692 0.99933646 -0.64817321] [ 0. 0. 0. 1. ]] SLAMing on 41.737193469999994 meters Centerline goodness : 0.870026 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.12, Z:-0.65 [[ 0.99997588 -0.00504377 -0.00477474 3.99692883] [ 0.00488861 0.99947698 -0.03196652 -0.12182563] [ 0.00493348 0.03194241 0.99947754 -0.64682841] [ 0. 0. 0. 1. ]] SLAMing on 41.767193469999995 meters Centerline goodness : 0.864401 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.11, Z:-0.64 [[ 9.99989377e-01 -3.78583754e-04 -4.59375231e-03 3.99550655e+00] [ 2.48088071e-04 9.99597329e-01 -2.83745977e-02 -1.14089261e-01] [ 4.60264470e-03 2.83731567e-02 9.99586804e-01 -6.44877309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797193469999996 meters Centerline goodness : 0.868757 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-0.64 [[ 9.99990758e-01 4.26614110e-03 5.32721082e-04 4.00913605e+00] [-4.24767805e-03 9.99515056e-01 -3.08481653e-02 -9.53135729e-02] [-6.64065368e-04 3.08456174e-02 9.99523940e-01 -6.44660360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82719347 meters Centerline goodness : 0.865451 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.09, Z:-0.64 [[ 9.99961814e-01 8.72129649e-03 5.56535652e-04 4.00950366e+00] [-8.70268622e-03 9.99583606e-01 -2.75114281e-02 -8.70731228e-02] [-7.96239235e-04 2.75055342e-02 9.99621334e-01 -6.44374240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85719347 meters Centerline goodness : 0.865085 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:-0.64 [[ 9.99902966e-01 1.39102391e-02 7.50649530e-04 4.00925617e+00] [-1.38884684e-02 9.99620908e-01 -2.37728904e-02 -7.80109255e-02] [-1.08105155e-03 2.37601582e-02 9.99717103e-01 -6.43616631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88719346999999 meters Centerline goodness : 0.867336 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.07, Z:-0.64 [[ 9.99804203e-01 1.97761426e-02 6.78093305e-04 4.00967411e+00] [-1.97590057e-02 9.99611632e-01 -1.96511295e-02 -6.84308726e-02] [-1.06645350e-03 1.96338834e-02 9.99806668e-01 -6.42962075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917193469999994 meters Centerline goodness : 0.867920 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.05, Z:-0.64 [[ 9.99476959e-01 3.23389367e-02 5.06889592e-05 4.01157750e+00] [-3.23349854e-02 9.99377006e-01 -1.41438863e-02 -4.74296105e-02] [-5.08055623e-04 1.41348494e-02 9.99899969e-01 -6.42696886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947193469999995 meters Centerline goodness : 0.864727 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.04, Z:-0.64 [[ 9.99241443e-01 3.89424141e-02 -1.66916386e-04 4.01331133e+00] [-3.89422906e-02 9.99198610e-01 -9.25399294e-03 -3.94003699e-02] [-1.93590204e-04 9.25347336e-03 9.99957167e-01 -6.43539589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977193469999996 meters Centerline goodness : 0.862607 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.03, Z:-0.64 [[ 9.99088004e-01 4.26961990e-02 -4.41106387e-04 4.01494720e+00] [-4.26982895e-02 9.99060951e-01 -7.35343002e-03 -3.22005608e-02] [ 1.26728654e-04 7.36555821e-03 9.99972866e-01 -6.44471924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00719347 meters Centerline goodness : 0.863247 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.02, Z:-0.65 [[ 9.98815725e-01 4.86439948e-02 -9.53982560e-04 4.01757994e+00] [-4.86473033e-02 9.98808707e-01 -3.82182611e-03 -2.22529163e-02] [ 7.66937198e-04 3.86370870e-03 9.99992242e-01 -6.45676210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03719347 meters Centerline goodness : 0.863585 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.02, Z:-0.65 [[ 9.98657290e-01 5.17923392e-02 -1.08200414e-03 4.01824153e+00] [-5.17939078e-02 9.98656704e-01 -1.47580228e-03 -1.80489308e-02] [ 1.00411543e-03 1.52986192e-03 9.99998326e-01 -6.45604038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06719346999999 meters Centerline goodness : 0.865027 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.01, Z:-0.64 [[ 9.98485738e-01 5.49996484e-02 -1.12682395e-03 4.01822465e+00] [-5.49985769e-02 9.98485971e-01 9.60767451e-04 -1.35763525e-02] [ 1.17795978e-03 -8.97338883e-04 9.99998904e-01 -6.44749521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09719346999999 meters Centerline goodness : 0.864845 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.01, Z:-0.64 [[ 9.98291652e-01 5.84158402e-02 -1.16930797e-03 4.01809146e+00] [-5.84113968e-02 9.98286359e-01 3.52913232e-03 -9.08943496e-03] [ 1.37346142e-03 -3.45480242e-03 9.99993089e-01 -6.43698237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127193469999995 meters Centerline goodness : 0.863044 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.00, Z:-0.64 [[ 9.97789716e-01 6.64414220e-02 -1.10413137e-03 4.01880271e+00] [-6.64264818e-02 9.97737528e-01 1.03608352e-02 -4.30294005e-03] [ 1.79002192e-03 -1.02645912e-02 9.99945716e-01 -6.43206103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157193469999996 meters Centerline goodness : 0.862555 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.00, Z:-0.64 [[ 9.97759935e-01 6.68811570e-02 -1.42237946e-03 4.01968844e+00] [-6.68637027e-02 9.97712073e-01 9.99318550e-03 -2.50261620e-03] [ 2.08748096e-03 -9.87569455e-03 9.99949055e-01 -6.43466884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18719347 meters Centerline goodness : 0.862597 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.00, Z:-0.64 [[ 9.97732963e-01 6.72785051e-02 -1.59274795e-03 4.02007483e+00] [-6.72595686e-02 9.97686428e-01 9.89659196e-03 -1.86492841e-03] [ 2.25489092e-03 -9.76702848e-03 9.99949759e-01 -6.43540434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21719347 meters Centerline goodness : 0.864025 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.00, Z:-0.65 [[ 9.97472642e-01 7.09318548e-02 4.12326348e-03 4.03130581e+00] [-7.09459257e-02 9.97474461e-01 3.37264427e-03 -8.96485728e-04] [-3.87362210e-03 -3.65664913e-03 9.99985812e-01 -6.47806710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24719346999999 meters Centerline goodness : 0.863022 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.00, Z:-0.65 [[ 9.97448914e-01 7.12756960e-02 3.92937561e-03 4.03227109e+00] [-7.12899747e-02 9.97449057e-01 3.62195849e-03 -1.14743319e-03] [-3.66119438e-03 -3.89284365e-03 9.99985721e-01 -6.48588799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27719346999999 meters Centerline goodness : 0.860399 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.00, Z:-0.65 [[ 9.97433165e-01 7.15088461e-02 3.68326657e-03 4.03347112e+00] [-7.15236108e-02 9.97430700e-01 4.04613793e-03 -2.04695579e-03] [-3.38446850e-03 -4.29919269e-03 9.99985031e-01 -6.49623112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307193469999994 meters Centerline goodness : 0.860450 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.00, Z:-0.65 [[ 9.97578618e-01 6.94881214e-02 2.88128953e-03 4.03647434e+00] [-6.94939606e-02 9.97580410e-01 1.97845128e-03 -2.99825940e-03] [-2.73683913e-03 -2.17389291e-03 9.99993892e-01 -6.51912065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337193469999995 meters Centerline goodness : 0.861021 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.01, Z:-0.65 [[ 9.98113572e-01 6.13324300e-02 -2.76222920e-03 4.04786674e+00] [-6.13230728e-02 9.98112335e-01 3.35366415e-03 -9.61886235e-03] [ 2.96270341e-03 -3.17794932e-03 9.99990561e-01 -6.51334874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36719347 meters Centerline goodness : 0.856190 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.01, Z:-0.65 [[ 9.98583128e-01 5.32062228e-02 9.12945142e-04 4.05884478e+00] [-5.32107126e-02 9.98565729e-01 5.92490276e-03 -1.35555689e-02] [-5.96394035e-04 -5.96508639e-03 9.99982031e-01 -6.54262679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39719347 meters Centerline goodness : 0.857064 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.02, Z:-0.65 [[ 9.99199177e-01 3.99801500e-02 1.60986337e-03 4.07384485e+00] [-3.99983540e-02 9.99107531e-01 1.35747564e-02 -2.29048581e-02] [-1.06570582e-03 -1.36282773e-02 9.99906563e-01 -6.50847754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42719347 meters Centerline goodness : 0.855337 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.03, Z:-0.65 [[ 9.99473594e-01 3.23113319e-02 2.91779231e-03 4.09107389e+00] [-3.23739610e-02 9.99166854e-01 2.48500549e-02 -2.64953594e-02] [-2.11242299e-03 -2.49314341e-02 9.99686932e-01 -6.48709787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45719346999999 meters Centerline goodness : 0.857940 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.03, Z:-0.65 [[ 9.99590081e-01 2.84988345e-02 2.73618203e-03 4.09108371e+00] [-2.85514219e-02 9.99358392e-01 2.16245497e-02 -2.70361254e-02] [-2.11815201e-03 -2.16938073e-02 9.99762418e-01 -6.47762462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487193469999994 meters Centerline goodness : 0.857585 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99702398e-01 2.43729645e-02 -1.03611777e-03 4.09813448e+00] [-2.43403098e-02 9.99403856e-01 2.44843050e-02 -2.86965720e-02] [ 1.63225519e-03 -2.44517990e-02 9.99699678e-01 -6.43931795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517193469999995 meters Centerline goodness : 0.858960 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99824299e-01 1.83638513e-02 -3.76020876e-03 4.10324894e+00] [-1.82532982e-02 9.99452883e-01 2.75817342e-02 -3.04188689e-02] [ 4.26465835e-03 -2.75082519e-02 9.99612479e-01 -6.37432484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547193469999996 meters Centerline goodness : 0.860098 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99826458e-01 1.81726328e-02 -4.09993563e-03 4.10346852e+00] [-1.80502201e-02 9.99440919e-01 2.81431742e-02 -3.09776923e-02] [ 4.60907901e-03 -2.80642854e-02 9.99595494e-01 -6.36473324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57719347 meters Centerline goodness : 0.860581 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 0.99989048 0.0141678 -0.00427838 4.10346249] [-0.01406243 0.99961952 0.02372875 -0.0289603 ] [ 0.00461294 -0.02366598 0.99970928 -0.6358718 ] [ 0. 0. 0. 1. ]] SLAMing on 42.60719347 meters Centerline goodness : 0.865333 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.63 [[ 0.99994951 0.00916168 -0.00412876 4.10264789] [-0.00908173 0.99977854 0.01898387 -0.02791453] [ 0.00430177 -0.01894541 0.99981127 -0.6349398 ] [ 0. 0. 0. 1. ]] SLAMing on 42.63719346999999 meters Centerline goodness : 0.866159 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.63 [[ 0.99997817 0.00503745 -0.00427574 4.10286028] [-0.00497422 0.99987996 0.01467393 -0.02676874] [ 0.00434914 -0.01465234 0.99988319 -0.63481486] [ 0. 0. 0. 1. ]] SLAMing on 42.667193469999994 meters Centerline goodness : 0.867573 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-0.64 [[ 9.99990340e-01 1.05465018e-03 -4.26698263e-03 4.10320536e+00] [-1.01029579e-03 9.99945578e-01 1.03836264e-02 -2.53258429e-02] [ 4.27770151e-03 -1.03792151e-02 9.99936985e-01 -6.35234932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697193469999995 meters Centerline goodness : 0.863620 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99991775e-01 -4.75896047e-04 -4.02785310e-03 4.10334927e+00] [ 5.13392385e-04 9.99956498e-01 9.31335305e-03 -2.44840435e-02] [ 4.02324570e-03 -9.31534432e-03 9.99948518e-01 -6.35941772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727193469999996 meters Centerline goodness : 0.866252 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99991429e-01 -1.19775833e-03 -3.96326722e-03 4.10309206e+00] [ 1.23214321e-03 9.99961527e-01 8.68485403e-03 -2.35819654e-02] [ 3.95271238e-03 -8.68966291e-03 9.99954432e-01 -6.35652597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75719347 meters Centerline goodness : 0.863517 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99990415e-01 -1.86957541e-03 -3.95923776e-03 4.10305188e+00] [ 1.90102767e-03 9.99966550e-01 7.95521256e-03 -2.23473998e-02] [ 3.94423245e-03 -7.96266292e-03 9.99960519e-01 -6.35502646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78719347 meters Centerline goodness : 0.867632 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.02, Z:-0.64 [[ 9.99987065e-01 -3.15626581e-03 -3.98858028e-03 4.10472665e+00] [ 3.17955461e-03 9.99977857e-01 5.84608145e-03 -1.62126387e-02] [ 3.97004017e-03 -5.85868773e-03 9.99974957e-01 -6.37260860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81719346999999 meters Centerline goodness : 0.864617 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.01, Z:-0.64 [[ 9.99992258e-01 -3.93283638e-04 -3.91527090e-03 4.10486254e+00] [ 4.26107311e-04 9.99964744e-01 8.38619877e-03 -1.32352203e-02] [ 3.91183471e-03 -8.38780217e-03 9.99957170e-01 -6.37586225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84719346999999 meters Centerline goodness : 0.864617 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.01, Z:-0.64 [[ 9.99992274e-01 -3.94840743e-04 -3.91104127e-03 4.10485566e+00] [ 4.27608955e-04 9.99964787e-01 8.38109604e-03 -1.32209122e-02] [ 3.90759436e-03 -8.38270369e-03 9.99957230e-01 -6.37587288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877193469999995 meters Centerline goodness : 0.865801 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.01, Z:-0.64 [[ 9.99992704e-01 -6.14621948e-04 -3.77026626e-03 4.10467776e+00] [ 6.40162608e-04 9.99976833e-01 6.77677016e-03 -7.15267846e-03] [ 3.76601376e-03 -6.77913429e-03 9.99969930e-01 -6.37425886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907193469999996 meters Centerline goodness : 0.866971 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.00, Z:-0.64 [[ 9.99989917e-01 2.42139993e-03 -3.78184716e-03 4.10467477e+00] [-2.38844140e-03 9.99959343e-01 8.69526495e-03 -1.67051094e-03] [ 3.80274811e-03 -8.68614456e-03 9.99955044e-01 -6.37201379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93719347 meters Centerline goodness : 0.866752 Centerline is valid? [False, False] Translation: X:4.11, Y:0.01, Z:-0.64 [[ 9.99916593e-01 1.23578619e-02 -3.75369866e-03 4.10592742e+00] [-1.22985074e-02 9.99805097e-01 1.54438931e-02 1.09233232e-02] [ 3.94382055e-03 -1.53964401e-02 9.99873690e-01 -6.38419352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96719347 meters Centerline goodness : 0.867367 Centerline is valid? [False, False] Translation: X:4.11, Y:0.02, Z:-0.64 [[ 9.99862796e-01 1.61466921e-02 -3.69785522e-03 4.10671240e+00] [-1.60799249e-02 9.99718868e-01 1.74247126e-02 1.86915827e-02] [ 3.97816711e-03 -1.73628606e-02 9.99841340e-01 -6.39144019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99719346999999 meters Centerline goodness : 0.869653 Centerline is valid? [False, False] Translation: X:4.11, Y:0.03, Z:-0.64 [[ 9.99800677e-01 1.96134549e-02 -3.73089353e-03 4.10775690e+00] [-1.95393801e-02 9.99629477e-01 1.89504894e-02 2.63093646e-02] [ 4.10119572e-03 -1.88738128e-02 9.99813462e-01 -6.40022234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02719346999999 meters Centerline goodness : 0.870139 Centerline is valid? [False, False] Translation: X:4.11, Y:0.04, Z:-0.64 [[ 0.99960214 0.02789953 -0.00414568 4.11040738] [-0.02779811 0.9993539 0.02278248 0.03816946] [ 0.00477862 -0.02265817 0.99973185 -0.6413537 ] [ 0. 0. 0. 1. ]] SLAMing on 43.057193469999994 meters Centerline goodness : 0.869377 Centerline is valid? [False, False] Translation: X:4.11, Y:0.04, Z:-0.64 [[ 0.99949267 0.03157589 -0.00416764 4.11112092] [-0.03146087 0.99918577 0.02525886 0.0424041 ] [ 0.00496182 -0.02511493 0.99967226 -0.64174873] [ 0. 0. 0. 1. ]] SLAMing on 43.087193469999995 meters Centerline goodness : 0.870168 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.64 [[ 0.99936786 0.03529675 -0.00424464 4.11188265] [-0.03516413 0.99898749 0.02806192 0.04592896] [ 0.00523084 -0.02789492 0.99959717 -0.642127 ] [ 0. 0. 0. 1. ]] SLAMing on 43.11719347 meters Centerline goodness : 0.871430 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.64 [[ 0.99922724 0.03905883 -0.00439719 4.11308067] [-0.03890386 0.99875993 0.03106595 0.0490542 ] [ 0.00560513 -0.03087088 0.99950766 -0.64291194] [ 0. 0. 0. 1. ]] SLAMing on 43.14719347 meters Centerline goodness : 0.871296 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.64 [[ 0.9988421 0.04773636 -0.00597559 4.11619384] [-0.0476003 0.99864255 0.02114857 0.05622517] [ 0.00697703 -0.02083965 0.99975849 -0.64464843] [ 0. 0. 0. 1. ]] SLAMing on 43.17719347 meters Centerline goodness : 0.871773 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.65 [[ 0.99881919 0.04817407 -0.00628289 4.11765382] [-0.04803361 0.99862783 0.02086235 0.0582851 ] [ 0.00727929 -0.02053592 0.99976262 -0.64565815] [ 0. 0. 0. 1. ]] SLAMing on 43.20719346999999 meters Centerline goodness : 0.869700 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.65 [[ 0.99879571 0.0486128 -0.0066271 4.11859949] [-0.04846495 0.99860633 0.02089375 0.05856526] [ 0.00763356 -0.02054741 0.99975974 -0.64591127] [ 0. 0. 0. 1. ]] SLAMing on 43.237193469999994 meters Centerline goodness : 0.874765 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.65 [[ 0.99877209 0.04907828 -0.00675495 4.11892008] [-0.04892509 0.99857677 0.02123157 0.05781073] [ 0.00778734 -0.02087502 0.99975176 -0.64584072] [ 0. 0. 0. 1. ]] SLAMing on 43.267193469999995 meters Centerline goodness : 0.875102 Centerline is valid? [False, False] Translation: X:4.12, Y:0.06, Z:-0.64 [[ 9.98643019e-01 5.19167834e-02 -4.09498857e-03 4.12455222e+00] [-5.18580218e-02 9.98565301e-01 1.33448446e-02 5.55293407e-02] [ 4.78193491e-03 -1.31143779e-02 9.99902568e-01 -6.43053138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297193469999996 meters Centerline goodness : 0.875259 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-0.64 [[ 0.99859803 0.05276498 -0.0042223 4.12490315] [-0.05269987 0.99850834 0.01427682 0.05349669] [ 0.00496932 -0.01403429 0.99988917 -0.64303172] [ 0. 0. 0. 1. ]] SLAMing on 43.32719347 meters Centerline goodness : 0.874250 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-0.64 [[ 0.99848694 0.05482457 -0.00425353 4.12593133] [-0.0547458 0.99835838 0.01683553 0.04824607] [ 0.00516955 -0.0165772 0.99984922 -0.64400629] [ 0. 0. 0. 1. ]] SLAMing on 43.35719347 meters Centerline goodness : 0.874071 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-0.65 [[ 9.98522681e-01 5.42634446e-02 -2.81669357e-03 4.14563824e+00] [-5.41996354e-02 9.98345409e-01 1.92053191e-02 4.33069736e-02] [ 3.85417986e-03 -1.90242830e-02 9.99811593e-01 -6.45302226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38719346999999 meters Centerline goodness : 0.874410 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-0.65 [[ 9.98672315e-01 5.14219008e-02 -3.06505001e-03 4.14600994e+00] [-5.13645574e-02 9.98543326e-01 1.65199290e-02 4.02948635e-02] [ 3.91007139e-03 -1.63405608e-02 9.99858839e-01 -6.45467227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417193469999994 meters Centerline goodness : 0.874853 Centerline is valid? [False, False] Translation: X:4.16, Y:0.03, Z:-0.65 [[ 9.98783659e-01 4.93019872e-02 7.19377075e-04 4.16209423e+00] [-4.93064857e-02 9.98581725e-01 2.00850577e-02 2.68175327e-02] [ 2.71876460e-04 -2.00960974e-02 9.99798016e-01 -6.47311445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447193469999995 meters Centerline goodness : 0.877142 Centerline is valid? [False, False] Translation: X:4.16, Y:0.02, Z:-0.65 [[ 9.98911441e-01 4.66454709e-02 3.63529948e-04 4.16267414e+00] [-4.66443281e-02 9.98744663e-01 1.82593797e-02 2.09628439e-02] [ 4.88643771e-04 -1.82564600e-02 9.99833218e-01 -6.47388519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477193469999996 meters Centerline goodness : 0.875890 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.65 [[ 0.99906028 0.04283753 0.00659566 4.17321909] [-0.04298282 0.99879375 0.02373847 0.013241 ] [-0.00557081 -0.02399966 0.99969645 -0.65073296] [ 0. 0. 0. 1. ]] SLAMing on 43.50719347 meters Centerline goodness : 0.876209 Centerline is valid? [False, False] Translation: X:4.17, Y:0.00, Z:-0.65 [[ 9.99252548e-01 3.81072300e-02 6.49490103e-03 4.17333018e+00] [-3.82360671e-02 9.99047528e-01 2.10247255e-02 9.43164206e-04] [-5.68752077e-03 -2.12573500e-02 9.99757859e-01 -6.50276631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53719347 meters Centerline goodness : 0.878340 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.01, Z:-0.65 [[ 0.99932021 0.03610902 0.00743327 4.19336127] [-0.03626625 0.99909482 0.02223299 -0.0058386 ] [-0.00662373 -0.02248745 0.99972518 -0.65191003] [ 0. 0. 0. 1. ]] SLAMing on 43.56719346999999 meters Centerline goodness : 0.878314 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.01, Z:-0.65 [[ 0.99939274 0.0341529 0.00690846 4.19516681] [-0.03428947 0.99919708 0.0207225 -0.01091554] [-0.00619518 -0.02094681 0.9997614 -0.65306324] [ 0. 0. 0. 1. ]] SLAMing on 43.59719346999999 meters Centerline goodness : 0.875997 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.02, Z:-0.65 [[ 0.99944204 0.03278606 0.00637887 4.19736685] [-0.03290536 0.99926637 0.01959483 -0.01588183] [-0.00573175 -0.0197938 0.99978765 -0.65468522] [ 0. 0. 0. 1. ]] SLAMing on 43.627193469999995 meters Centerline goodness : 0.873322 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.03, Z:-0.66 [[ 9.99405621e-01 3.43583841e-02 2.81181162e-03 4.20709547e+00] [-3.44039523e-02 9.99242457e-01 1.81901036e-02 -3.09632171e-02] [-2.18469898e-03 -1.82760292e-02 9.99830593e-01 -6.56235424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657193469999996 meters Centerline goodness : 0.877069 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.04, Z:-0.66 [[ 9.99470713e-01 3.24470121e-02 2.34199965e-03 4.20934468e+00] [-3.24823964e-02 9.99325896e-01 1.71069551e-02 -3.86503961e-02] [-1.78535132e-03 -1.71739743e-02 9.99850922e-01 -6.58070671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68719347 meters Centerline goodness : 0.877146 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.05, Z:-0.66 [[ 9.99545787e-01 3.00648287e-02 2.07975738e-03 4.21067814e+00] [-3.00939171e-02 9.99422870e-01 1.57570051e-02 -4.58309029e-02] [-1.60482543e-03 -1.58124361e-02 9.99873688e-01 -6.59307065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71719347 meters Centerline goodness : 0.877945 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.06, Z:-0.66 [[ 9.99668560e-01 2.57194045e-02 1.13239403e-03 4.21308340e+00] [-2.57324841e-02 9.99575542e-01 1.36592176e-02 -5.83955882e-02] [-7.80606435e-04 -1.36838297e-02 9.99906067e-01 -6.60284253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74719346999999 meters Centerline goodness : 0.880168 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.07, Z:-0.66 [[ 0.99972241 0.02256365 0.00678175 4.22609106] [-0.02268917 0.99956124 0.01904033 -0.06613635] [-0.00634916 -0.01918892 0.99979572 -0.66434543] [ 0. 0. 0. 1. ]] SLAMing on 43.77719346999999 meters Centerline goodness : 0.881654 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.07, Z:-0.66 [[ 0.99983693 0.01690339 0.006356 4.22678756] [-0.01699066 0.99975851 0.01393675 -0.07194454] [-0.00611889 -0.01404247 0.99988268 -0.66436201] [ 0. 0. 0. 1. ]] SLAMing on 43.807193469999994 meters Centerline goodness : 0.877798 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.08, Z:-0.67 [[ 0.99991792 0.01151055 0.00562684 4.22860181] [-0.01156238 0.99989022 0.00926554 -0.07928406] [-0.00551957 -0.00932984 0.99994124 -0.66502834] [ 0. 0. 0. 1. ]] SLAMing on 43.837193469999995 meters Centerline goodness : 0.887197 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.66 [[ 0.99997367 0.00555494 0.00467006 4.2302768 ] [-0.00557497 0.99997527 0.00428658 -0.09735964] [-0.00464613 -0.00431251 0.99997991 -0.6647176 ] [ 0. 0. 0. 1. ]] SLAMing on 43.86719347 meters Centerline goodness : 0.883203 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.66 [[ 9.99988826e-01 6.01772486e-04 4.68887472e-03 4.22965921e+00] [-6.01213344e-04 9.99999812e-01 -1.20657322e-04 -1.03155161e-01] [-4.68894645e-03 1.17836960e-04 9.99989000e-01 -6.63900677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89719347 meters Centerline goodness : 0.887085 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.11, Z:-0.66 [[ 9.99989733e-01 -1.79424913e-03 4.16110755e-03 4.23150650e+00] [ 1.79946905e-03 9.99997598e-01 -1.25104917e-03 -1.09352750e-01] [-4.15885286e-03 1.25852411e-03 9.99990560e-01 -6.64871066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92719347 meters Centerline goodness : 0.892342 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.12, Z:-0.66 [[ 9.99982264e-01 -5.81952518e-03 1.26699768e-03 4.23647791e+00] [ 5.81639472e-03 9.99980057e-01 2.46059101e-03 -1.24717512e-01] [-1.28129188e-03 -2.45317801e-03 9.99996170e-01 -6.64144653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95719346999999 meters Centerline goodness : 0.895829 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.13, Z:-0.66 [[ 9.99960334e-01 -8.86925086e-03 8.17130786e-04 4.23811574e+00] [ 8.86861292e-03 9.99960368e-01 7.81046374e-04 -1.31582077e-01] [-8.24025697e-04 -7.73768576e-04 9.99999361e-01 -6.64846629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987193469999994 meters Centerline goodness : 0.892418 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.66 [[ 9.99929726e-01 -1.18386171e-02 6.24284376e-04 4.23827973e+00] [ 1.18391282e-02 9.99929578e-01 -8.21485236e-04 -1.38665335e-01] [-6.14515163e-04 8.28818490e-04 9.99999468e-01 -6.64331271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017193469999995 meters Centerline goodness : 0.895017 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.66 [[ 9.99888719e-01 -1.49081735e-02 5.43402314e-04 4.23832506e+00] [ 1.49096261e-02 9.99884995e-01 -2.77497804e-03 -1.44552798e-01] [-5.01969966e-04 2.78277117e-03 9.99996002e-01 -6.63875990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047193469999996 meters Centerline goodness : 0.900059 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.15, Z:-0.66 [[ 9.99856889e-01 -1.69161586e-02 2.12073194e-04 4.23887678e+00] [ 1.69167325e-02 9.99852145e-01 -3.08435910e-03 -1.53659230e-01] [-1.59866331e-04 3.08750528e-03 9.99995221e-01 -6.63308008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07719347 meters Centerline goodness : 0.899625 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.16, Z:-0.66 [[ 9.99854312e-01 -1.70656960e-02 -3.41701175e-04 4.24042584e+00] [ 1.70648065e-02 9.99851370e-01 -2.45575879e-03 -1.56597479e-01] [ 3.83559620e-04 2.44956995e-03 9.99996926e-01 -6.63809653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10719347 meters Centerline goodness : 0.902084 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.16, Z:-0.67 [[ 9.99845381e-01 -1.75493286e-02 -1.11111169e-03 4.24376822e+00] [ 1.75467995e-02 9.99843519e-01 -2.24642233e-03 -1.58865547e-01] [ 1.15036103e-03 2.22657854e-03 9.99996860e-01 -6.66269751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13719346999999 meters Centerline goodness : 0.898630 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.67 [[ 9.99845271e-01 -1.75032945e-02 -1.75157267e-03 4.24562349e+00] [ 1.75002295e-02 9.99845327e-01 -1.75017251e-03 -1.60556424e-01] [ 1.78193553e-03 1.71924878e-03 9.99996934e-01 -6.67002333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167193469999994 meters Centerline goodness : 0.900490 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.67 [[ 9.99787370e-01 -2.05361680e-02 -1.86589423e-03 4.24562372e+00] [ 2.05268463e-02 9.99777370e-01 -4.88467044e-03 -1.61687578e-01] [ 1.96579124e-03 4.84533088e-03 9.99986329e-01 -6.66512090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197193469999995 meters Centerline goodness : 0.904082 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.17, Z:-0.66 [[ 9.99750980e-01 -2.22499188e-02 -1.70875959e-03 4.24382246e+00] [ 2.22398709e-02 9.99736472e-01 -5.68987117e-03 -1.69204949e-01] [ 1.83490845e-03 5.65045168e-03 9.99982353e-01 -6.64038806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227193469999996 meters Centerline goodness : 0.906396 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.67 [[ 9.99775416e-01 -2.10014116e-02 2.83876221e-03 4.25155802e+00] [ 2.10448065e-02 9.99646702e-01 -1.62353455e-02 -1.69611162e-01] [-2.49679411e-03 1.62914405e-02 9.99864168e-01 -6.65443828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25719347 meters Centerline goodness : 0.907981 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:-0.67 [[ 9.99848189e-01 -1.72371491e-02 2.54552136e-03 4.25189106e+00] [ 1.72644691e-02 9.99788988e-01 -1.11318352e-02 -1.73698248e-01] [-2.35310312e-03 1.11740923e-02 9.99934799e-01 -6.65001444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28719347 meters Centerline goodness : 0.909719 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.17, Z:-0.67 [[ 9.99924712e-01 -1.22705847e-02 -4.66226220e-05 4.28090782e+00] [ 1.22678193e-02 9.99766871e-01 -1.77680631e-02 -1.73692111e-01] [ 2.64636277e-04 1.77661534e-02 9.99842134e-01 -6.65014062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31719346999999 meters Centerline goodness : 0.908527 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.17, Z:-0.67 [[ 9.99927458e-01 -1.20427239e-02 -2.26520529e-04 4.28138425e+00] [ 1.20369970e-02 9.99777634e-01 -1.73145572e-02 -1.74894795e-01] [ 4.34984589e-04 1.73105745e-02 9.99850066e-01 -6.65140392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34719346999999 meters Centerline goodness : 0.909207 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.18, Z:-0.67 [[ 9.99935383e-01 -1.13603630e-02 -4.14678401e-04 4.28175757e+00] [ 1.13520874e-02 9.99802470e-01 -1.63141579e-02 -1.77168277e-01] [ 5.99931245e-04 1.63083962e-02 9.99866829e-01 -6.65103355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377193469999995 meters Centerline goodness : 0.909384 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.18, Z:-0.66 [[ 9.99957862e-01 -9.17104236e-03 -4.08085495e-04 4.28104421e+00] [ 9.16480450e-03 9.99869546e-01 -1.33002629e-02 -1.83888012e-01] [ 5.30009534e-04 1.32959625e-02 9.99911464e-01 -6.64096576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407193469999996 meters Centerline goodness : 0.911354 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.19, Z:-0.66 [[ 9.99961649e-01 -8.71541301e-03 -8.60901884e-04 4.28240691e+00] [ 8.70424361e-03 9.99887422e-01 -1.22221217e-02 -1.87062017e-01] [ 9.67325804e-04 1.22141595e-02 9.99924936e-01 -6.64632015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43719347 meters Centerline goodness : 0.906678 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.19, Z:-0.67 [[ 9.99958331e-01 -9.04875733e-03 -1.20674245e-03 4.28443180e+00] [ 9.03338768e-03 9.99884947e-01 -1.21856792e-02 -1.89011624e-01] [ 1.31686886e-03 1.21742705e-02 9.99925024e-01 -6.66325165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46719347 meters Centerline goodness : 0.907979 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:-0.67 [[ 9.99960340e-01 -8.69163510e-03 -1.94273463e-03 4.28827446e+00] [ 8.66881315e-03 9.99896729e-01 -1.14622766e-02 -1.90570198e-01] [ 2.04215993e-03 1.14449808e-02 9.99932419e-01 -6.69303968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49719346999999 meters Centerline goodness : 0.904009 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:-0.67 [[ 9.99938510e-01 -1.07425257e-02 -2.75200521e-03 4.29154680e+00] [ 1.07061851e-02 9.99859525e-01 -1.28960074e-02 -1.92794470e-01] [ 2.89015431e-03 1.28657509e-02 9.99913056e-01 -6.71318691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52719346999999 meters Centerline goodness : 0.905484 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:-0.67 [[ 9.99893133e-01 -1.43112836e-02 -2.98483129e-03 4.29212537e+00] [ 1.42608904e-02 9.99765909e-01 -1.62712864e-02 -1.94127526e-01] [ 3.21699556e-03 1.62269812e-02 9.99863159e-01 -6.71308876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557193469999994 meters Centerline goodness : 0.904034 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.20, Z:-0.67 [[ 9.99830128e-01 -1.81279531e-02 -3.33060305e-03 4.29333182e+00] [ 1.80588339e-02 9.99642299e-01 -1.97269252e-02 -1.96177715e-01] [ 3.68702047e-03 1.96634274e-02 9.99799858e-01 -6.71789879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587193469999995 meters Centerline goodness : 0.900543 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.20, Z:-0.67 [[ 9.99767708e-01 -2.11907410e-02 -3.93472156e-03 4.29607106e+00] [ 2.10980223e-02 9.99529249e-01 -2.22745270e-02 -1.99253511e-01] [ 4.40488301e-03 2.21863379e-02 9.99744149e-01 -6.73553381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61719347 meters Centerline goodness : 0.901388 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.20, Z:-0.68 [[ 0.99957899 -0.02864752 -0.00460088 4.30018915] [ 0.02850406 0.99918173 -0.02869464 -0.20236653] [ 0.00541915 0.02855141 0.99957764 -0.67666647] [ 0. 0. 0. 1. ]] SLAMing on 44.64719347 meters Centerline goodness : 0.902850 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.20, Z:-0.68 [[ 0.99947514 -0.03161868 -0.00705077 4.30584574] [ 0.03140022 0.99908035 -0.02919724 -0.2035353 ] [ 0.00796747 0.02896051 0.9995488 -0.67675671] [ 0. 0. 0. 1. ]] SLAMing on 44.67719347 meters Centerline goodness : 0.902692 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.21, Z:-0.68 [[ 0.99944967 -0.0323229 -0.00745588 4.30670529] [ 0.03209624 0.99907139 -0.02874339 -0.20610621] [ 0.00837802 0.02848827 0.99955902 -0.67646784] [ 0. 0. 0. 1. ]] SLAMing on 44.70719346999999 meters Centerline goodness : 0.902253 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99297078e-01 -3.73890118e-02 -2.72256957e-03 4.31539606e+00] [ 3.73152283e-02 9.99029403e-01 -2.34056813e-02 -2.08894959e-01] [ 3.59504235e-03 2.32876356e-02 9.99722342e-01 -6.76770563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737193469999994 meters Centerline goodness : 0.902253 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99297078e-01 -3.73890118e-02 -2.72256957e-03 4.31539606e+00] [ 3.73152283e-02 9.99029403e-01 -2.34056813e-02 -2.08894959e-01] [ 3.59504235e-03 2.32876356e-02 9.99722342e-01 -6.76770563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767193469999995 meters Centerline goodness : 0.901413 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99282570e-01 -3.77331599e-02 -3.24871553e-03 4.31661030e+00] [ 3.76479237e-02 9.99021932e-01 -2.31908110e-02 -2.10491636e-01] [ 4.12060064e-03 2.30518659e-02 9.99725778e-01 -6.76820641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797193469999996 meters Centerline goodness : 0.900405 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99277602e-01 -3.78335138e-02 -3.59152450e-03 4.31720777e+00] [ 3.77413312e-02 9.99023480e-01 -2.29712348e-02 -2.11406229e-01] [ 4.45709983e-03 2.28190915e-02 9.99729675e-01 -6.76589355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82719347 meters Centerline goodness : 0.902651 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.21, Z:-0.68 [[ 9.99389166e-01 -3.47194311e-02 -3.98206699e-03 4.31789329e+00] [ 3.46380770e-02 9.99220331e-01 -1.89455567e-02 -2.13240122e-01] [ 4.63674125e-03 1.87960530e-02 9.99812587e-01 -6.76393218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85719347 meters Centerline goodness : 0.898668 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.21, Z:-0.68 [[ 9.99516796e-01 -3.10814696e-02 -3.41452209e-04 4.33528602e+00] [ 3.10703382e-02 9.99356020e-01 -1.79493699e-02 -2.10181987e-01] [ 8.99125115e-04 1.79300876e-02 9.99838839e-01 -6.76194705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88719346999999 meters Centerline goodness : 0.897975 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.21, Z:-0.68 [[ 9.99575391e-01 -2.91252148e-02 8.70966377e-04 4.35476831e+00] [ 2.91366699e-02 9.99384861e-01 -1.95180259e-02 -2.07659547e-01] [-3.01963915e-04 1.95351155e-02 9.99809126e-01 -6.77104516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917193469999994 meters Centerline goodness : 0.899608 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.21, Z:-0.68 [[ 9.99569129e-01 -2.93482037e-02 4.90099186e-04 4.35568495e+00] [ 2.93521327e-02 9.99368606e-01 -2.00210079e-02 -2.05943797e-01] [ 9.77908795e-05 2.00267669e-02 9.99799439e-01 -6.77241308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947193469999995 meters Centerline goodness : 0.895138 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.21, Z:-0.68 [[ 9.99654345e-01 -2.62901699e-02 -1.35537188e-04 4.35679507e+00] [ 2.62845111e-02 9.99522822e-01 -1.62250664e-02 -2.07041947e-01] [ 5.62032266e-04 1.62158956e-02 9.99868356e-01 -6.77005479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977193469999996 meters Centerline goodness : 0.896228 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.21, Z:-0.67 [[ 9.99655761e-01 -2.62361565e-02 -1.52573154e-04 4.35542127e+00] [ 2.62302584e-02 9.99525084e-01 -1.61734101e-02 -2.06497196e-01] [ 5.76828813e-04 1.61638406e-02 9.99869190e-01 -6.74782526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00719347 meters Centerline goodness : 0.893756 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.21, Z:-0.68 [[ 9.99702742e-01 -2.43696329e-02 7.40315847e-04 4.37533141e+00] [ 2.43787502e-02 9.99555566e-01 -1.71565703e-02 -2.05822224e-01] [-3.21887505e-04 1.71695184e-02 9.99852541e-01 -6.75418387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03719347 meters Centerline goodness : 0.894774 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.20, Z:-0.68 [[ 9.99760911e-01 -2.18658913e-02 -5.70424939e-05 4.37806054e+00] [ 2.18627782e-02 9.99656314e-01 -1.44662590e-02 -2.04531102e-01] [ 3.73340536e-04 1.44615532e-02 9.99895357e-01 -6.76949516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06719346999999 meters Centerline goodness : 0.888425 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.20, Z:-0.68 [[ 9.99874297e-01 -1.58538826e-02 2.09172006e-04 4.40009772e+00] [ 1.58552428e-02 9.99765290e-01 -1.47640114e-02 -1.95856763e-01] [ 2.49439917e-05 1.47654720e-02 9.99890984e-01 -6.80941422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09719346999999 meters Centerline goodness : 0.885821 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.19, Z:-0.69 [[ 0.9999356 -0.01003914 0.00529352 4.41384743] [ 0.01013477 0.99978006 -0.01836051 -0.19209349] [-0.00510803 0.01841298 0.99981742 -0.68593396] [ 0. 0. 0. 1. ]] SLAMing on 45.127193469999995 meters Centerline goodness : 0.886460 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:-0.68 [[ 9.99988181e-01 -3.65100420e-03 3.21062784e-03 4.43992731e+00] [ 3.73373361e-03 9.99651046e-01 -2.61504337e-02 -1.88505830e-01] [-3.11403213e-03 2.61621123e-02 9.99652863e-01 -6.84758122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157193469999996 meters Centerline goodness : 0.885183 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99944470e-01 1.03367002e-02 2.05182201e-03 4.46564799e+00] [-1.02604669e-02 9.99361777e-01 -3.42163978e-02 -1.83547703e-01] [-2.40419714e-03 3.41934451e-02 9.99412341e-01 -6.88078473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18719347 meters Centerline goodness : 0.882240 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99891994e-01 1.46110856e-02 1.58644387e-03 4.46710375e+00] [-1.45558580e-02 9.99427768e-01 -3.05329801e-02 -1.82528856e-01] [-2.03165605e-03 3.05065903e-02 9.99532501e-01 -6.88806118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21719347 meters Centerline goodness : 0.877705 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99820862e-01 1.88920090e-02 1.15569977e-03 4.46862727e+00] [-1.88545517e-02 9.99467546e-01 -2.66294942e-02 -1.81874268e-01] [-1.65816906e-03 2.66029337e-02 9.99644704e-01 -6.89631027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24719346999999 meters Centerline goodness : 0.875305 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99794150e-01 2.02749756e-02 7.63240774e-04 4.46970405e+00] [-2.02478325e-02 9.99447663e-01 -2.63513627e-02 -1.80307553e-01] [-1.29709244e-03 2.63304843e-02 9.99652451e-01 -6.90488899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27719346999999 meters Centerline goodness : 0.874246 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.18, Z:-0.69 [[ 9.99669973e-01 2.56725802e-02 9.29435182e-04 4.46917985e+00] [-2.56482609e-02 9.99462387e-01 -2.04231378e-02 -1.83546222e-01] [-1.45325015e-03 2.03925592e-02 9.99790994e-01 -6.89844596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307193469999994 meters Centerline goodness : 0.871936 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.19, Z:-0.69 [[ 9.99647069e-01 2.65537068e-02 7.99207247e-04 4.46882655e+00] [-2.65340435e-02 9.99471706e-01 -1.87684408e-02 -1.87189456e-01] [-1.29715670e-03 1.87406106e-02 9.99823538e-01 -6.88916943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337193469999995 meters Centerline goodness : 0.872060 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.19, Z:-0.69 [[ 9.99640385e-01 2.68081619e-02 6.50956071e-04 4.46919385e+00] [-2.67926617e-02 9.99487617e-01 -1.75115948e-02 -1.92019671e-01] [-1.12007620e-03 1.74878565e-02 9.99846448e-01 -6.88890746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36719347 meters Centerline goodness : 0.873036 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.20, Z:-0.69 [[ 9.99686049e-01 2.50538289e-02 3.29327010e-04 4.46988735e+00] [-2.50441573e-02 9.99531453e-01 -1.75973092e-02 -2.03301288e-01] [-7.70052677e-04 1.75835368e-02 9.99845101e-01 -6.89062939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39719347 meters Centerline goodness : 0.873041 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.21, Z:-0.69 [[ 9.99681942e-01 2.52193314e-02 -1.92566328e-05 4.47071822e+00] [-2.52163833e-02 9.99552809e-01 -1.60721977e-02 -2.09118817e-01] [-3.86082058e-04 1.60675714e-02 9.99870834e-01 -6.89108721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42719347 meters Centerline goodness : 0.873827 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.22, Z:-0.69 [[ 9.99742859e-01 2.26763074e-02 -1.79636516e-05 4.47011789e+00] [-2.26735205e-02 9.99606930e-01 -1.64893258e-02 -2.18580276e-01] [-3.55960431e-04 1.64854931e-02 9.99864042e-01 -6.88171164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45719346999999 meters Centerline goodness : 0.872972 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.22, Z:-0.69 [[ 9.99806811e-01 1.96554504e-02 6.86495648e-05 4.46934495e+00] [-1.96507385e-02 9.99632377e-01 -1.86804404e-02 -2.22515628e-01] [-4.35796796e-04 1.86754825e-02 9.99825503e-01 -6.87339562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487193469999994 meters Centerline goodness : 0.874756 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.23, Z:-0.69 [[ 9.99811815e-01 1.93990717e-02 -9.85347919e-05 4.46953407e+00] [-1.93978918e-02 9.99663540e-01 -1.72199917e-02 -2.29315230e-01] [-2.35550215e-04 1.72186625e-02 9.99851720e-01 -6.86655161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517193469999995 meters Centerline goodness : 0.875983 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.23, Z:-0.69 [[ 9.99867221e-01 1.62943353e-02 -1.87787752e-04 4.46896809e+00] [-1.62949581e-02 9.99686128e-01 -1.90294419e-02 -2.34738272e-01] [-1.22343298e-04 1.90299752e-02 9.99818906e-01 -6.85539345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547193469999996 meters Centerline goodness : 0.878809 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.25, Z:-0.68 [[ 9.99927984e-01 1.19727359e-02 8.25148240e-04 4.46758918e+00] [-1.19592030e-02 9.99818741e-01 -1.48142970e-02 -2.49695472e-01] [-1.00236634e-03 1.48033620e-02 9.99889922e-01 -6.78549488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57719347 meters Centerline goodness : 0.880843 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:-0.68 [[ 9.99960529e-01 7.76973064e-03 4.30944000e-03 4.48469892e+00] [-7.67270850e-03 9.99726520e-01 -2.20910649e-02 -2.53644440e-01] [-4.47990308e-03 2.20571279e-02 9.99746675e-01 -6.79195918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60719347 meters Centerline goodness : 0.877357 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:-0.68 [[ 9.99978136e-01 5.05027165e-03 4.26878453e-03 4.48405663e+00] [-4.96453445e-03 9.99790402e-01 -1.98621447e-02 -2.66925830e-01] [-4.36819903e-03 1.98405179e-02 9.99793615e-01 -6.75073600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63719346999999 meters Centerline goodness : 0.881179 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:-0.67 [[ 9.99979190e-01 5.16052375e-03 3.87163206e-03 4.48494197e+00] [-5.08810849e-03 9.99816166e-01 -1.84863803e-02 -2.73201690e-01] [-3.96631973e-03 1.84662963e-02 9.99821616e-01 -6.74977394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667193469999994 meters Centerline goodness : 0.877420 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:-0.68 [[ 9.99989219e-01 3.32865159e-03 3.23762427e-03 4.48742986e+00] [-3.26423903e-03 9.99800591e-01 -1.97008609e-02 -2.77920968e-01] [-3.30255596e-03 1.96900801e-02 9.99800677e-01 -6.76700910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697193469999995 meters Centerline goodness : 0.880468 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:-0.68 [[ 9.99992759e-01 2.78352075e-03 2.59493645e-03 4.48999768e+00] [-2.73343865e-03 9.99813694e-01 -1.91077171e-02 -2.82990769e-01] [-2.64763973e-03 1.91004857e-02 9.99814063e-01 -6.78406036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727193469999996 meters Centerline goodness : 0.878494 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.29, Z:-0.68 [[ 9.99995513e-01 2.30516573e-03 1.91327964e-03 4.49275941e+00] [-2.26939795e-03 9.99826457e-01 -1.84907197e-02 -2.87482362e-01] [-1.95557177e-03 1.84862947e-02 9.99827201e-01 -6.80177888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75719347 meters Centerline goodness : 0.879107 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.30, Z:-0.68 [[ 9.99996239e-01 2.56062826e-03 9.82066261e-04 4.49711660e+00] [-2.54440207e-03 9.99865819e-01 -1.61823840e-02 -2.95285628e-01] [-1.02337156e-03 1.61798244e-02 9.99868574e-01 -6.83310849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78719347 meters Centerline goodness : 0.872271 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.30, Z:-0.69 [[ 9.99994574e-01 2.88402841e-03 -1.59208063e-03 4.51900191e+00] [-2.91259297e-03 9.99829380e-01 -1.82408064e-02 -2.98235321e-01] [ 1.53920198e-03 1.82453445e-02 9.99832355e-01 -6.85126489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81719346999999 meters Centerline goodness : 0.872595 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.30, Z:-0.69 [[ 9.99994883e-01 2.21870258e-03 -2.30458461e-03 4.52098086e+00] [-2.25946635e-03 9.99838324e-01 -1.78387526e-02 -3.01879259e-01] [ 2.26463312e-03 1.78438684e-02 9.99838221e-01 -6.85554725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84719346999999 meters Centerline goodness : 0.871843 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:-0.68 [[ 9.99996351e-01 -1.19226310e-03 -2.42421556e-03 4.51985343e+00] [ 1.14501918e-03 9.99811201e-01 -1.93972017e-02 -3.09956078e-01] [ 2.44688444e-03 1.93943552e-02 9.99808918e-01 -6.83022786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877193469999995 meters Centerline goodness : 0.872515 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:-0.68 [[ 9.99995466e-01 -1.38834494e-03 -2.67213300e-03 4.52038210e+00] [ 1.33818054e-03 9.99824538e-01 -1.86842733e-02 -3.13987573e-01] [ 2.69760436e-03 1.86806128e-02 9.99821863e-01 -6.82731250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907193469999996 meters Centerline goodness : 0.871693 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.32, Z:-0.68 [[ 9.99994237e-01 -1.55257741e-03 -3.01932595e-03 4.52113395e+00] [ 1.49747729e-03 9.99833853e-01 -1.81665695e-02 -3.16617825e-01] [ 3.04702930e-03 1.81619435e-02 9.99830415e-01 -6.82575627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93719347 meters Centerline goodness : 0.872625 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.32, Z:-0.68 [[ 9.99992722e-01 1.62780588e-03 -3.45039491e-03 4.52304202e+00] [-1.67736787e-03 9.99894760e-01 -1.44102602e-02 -3.17202287e-01] [ 3.42657468e-03 1.44159429e-02 9.99890214e-01 -6.83588478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96719347 meters Centerline goodness : 0.871110 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.32, Z:-0.69 [[ 9.99987887e-01 4.20612930e-03 -2.55609479e-03 4.54184556e+00] [-4.25063091e-03 9.99834990e-01 -1.76613887e-02 -3.15882389e-01] [ 2.48138692e-03 1.76720398e-02 9.99840758e-01 -6.85450947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99719346999999 meters Centerline goodness : 0.872149 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.69 [[ 9.99971552e-01 6.78148942e-03 -3.30248342e-03 4.54526514e+00] [-6.82949590e-03 9.99867905e-01 -1.47488985e-02 -3.16707585e-01] [ 3.20202768e-03 1.47710332e-02 9.99885775e-01 -6.87882167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02719346999999 meters Centerline goodness : 0.871684 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.69 [[ 9.99962093e-01 7.64984753e-03 -4.15848409e-03 4.54948261e+00] [-7.70570355e-03 9.99878014e-01 -1.35859832e-02 -3.19740977e-01] [ 4.05404612e-03 1.36175122e-02 9.99899059e-01 -6.91127297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057193469999994 meters Centerline goodness : 0.869951 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.69 [[ 0.99996625 0.00649975 -0.00502528 4.55281391] [-0.00657107 0.99987602 -0.01430958 -0.32151825] [ 0.00493164 0.01434212 0.99988498 -0.69326538] [ 0. 0. 0. 1. ]] SLAMing on 46.087193469999995 meters Centerline goodness : 0.873465 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.70 [[ 0.99996955 0.00508702 -0.0059176 4.55634543] [-0.00517692 0.9998699 -0.01527696 -0.32308257] [ 0.00583912 0.01530713 0.99986579 -0.69553471] [ 0. 0. 0. 1. ]] SLAMing on 46.11719347 meters Centerline goodness : 0.871357 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.70 [[ 9.99970392e-01 3.86688076e-03 -6.65306888e-03 4.55900873e+00] [-3.97190097e-03 9.99866569e-01 -1.58451037e-02 -3.24497060e-01] [ 6.59091004e-03 1.58710599e-02 9.99852324e-01 -6.96962633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14719347 meters Centerline goodness : 0.866671 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.70 [[ 9.99999258e-01 4.77393879e-04 -1.12093040e-03 4.56700323e+00] [-4.88448707e-04 9.99951045e-01 -9.88271614e-03 -3.27523697e-01] [ 1.11615758e-03 9.88325632e-03 9.99950536e-01 -6.97883212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17719347 meters Centerline goodness : 0.869559 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:-0.70 [[ 9.99978909e-01 -2.85687061e-03 5.83257031e-03 4.57517073e+00] [ 2.88850605e-03 9.99981125e-01 -5.42272882e-03 -3.28485262e-01] [-5.81696819e-03 5.43946186e-03 9.99968287e-01 -6.99860292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20719346999999 meters Centerline goodness : 0.864773 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:-0.70 [[ 9.99980180e-01 -2.95824633e-03 5.55764903e-03 4.57528117e+00] [ 2.98820695e-03 9.99981007e-01 -5.39033326e-03 -3.29103988e-01] [-5.54159754e-03 5.40683383e-03 9.99970028e-01 -6.99040692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237193469999994 meters Centerline goodness : 0.861075 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.70 [[ 9.99946562e-01 4.12286040e-04 1.03297705e-02 4.58730149e+00] [-2.84864238e-04 9.99923895e-01 -1.23338314e-02 -3.28350266e-01] [-1.03340694e-02 1.23302297e-02 9.99870578e-01 -7.02997181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267193469999995 meters Centerline goodness : 0.862178 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.70 [[ 9.99950908e-01 3.44143487e-04 9.90266481e-03 4.58852346e+00] [-2.20170211e-04 9.99921628e-01 -1.25175512e-02 -3.28135454e-01] [-9.90619655e-03 1.25147564e-02 9.99872616e-01 -7.03566045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297193469999996 meters Centerline goodness : 0.862357 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 9.99927076e-01 2.53237952e-03 1.18080590e-02 4.60726952e+00] [-2.33888690e-03 9.99863241e-01 -1.63716028e-02 -3.27922682e-01] [-1.18479033e-02 1.63427912e-02 9.99796249e-01 -7.05812562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32719347 meters Centerline goodness : 0.861714 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 0.99992214 0.00526708 0.01131203 4.60898445] [-0.00511745 0.99989957 -0.01321621 -0.32943415] [-0.0113805 0.01315729 0.99984867 -0.70637941] [ 0. 0. 0. 1. ]] SLAMing on 46.35719347 meters Centerline goodness : 0.862140 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 0.99992684 0.0050393 0.01099646 4.61004589] [-0.00489242 0.99989901 -0.01334276 -0.32943196] [-0.01106259 0.01328798 0.99985051 -0.70692436] [ 0. 0. 0. 1. ]] SLAMing on 46.38719346999999 meters Centerline goodness : 0.861466 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.33, Z:-0.71 [[ 9.99937939e-01 4.02063622e-03 1.03899983e-02 4.61212232e+00] [-3.87521853e-03 9.99894788e-01 -1.39783635e-02 -3.29735831e-01] [-1.04451071e-02 1.39372325e-02 9.99848315e-01 -7.08058472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417193469999994 meters Centerline goodness : 0.862974 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.71 [[ 9.99979390e-01 1.66305545e-03 6.20111999e-03 4.64091103e+00] [-1.57302031e-03 9.99893692e-01 -1.44958917e-02 -3.31630083e-01] [-6.22456823e-03 1.44858384e-02 9.99875700e-01 -7.08986617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447193469999995 meters Centerline goodness : 0.858914 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.71 [[ 9.99984814e-01 3.27613543e-04 5.50130168e-03 4.64369928e+00] [-2.42845813e-04 9.99881348e-01 -1.54022722e-02 -3.31528044e-01] [-5.50569493e-03 1.54007023e-02 9.99866244e-01 -7.10768149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477193469999996 meters Centerline goodness : 0.858927 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99988124e-01 -1.11713010e-03 4.74375038e-03 4.64638287e+00] [ 1.19477439e-03 9.99864854e-01 -1.63965376e-02 -3.31348362e-01] [-4.72479222e-03 1.64020106e-02 9.99854315e-01 -7.12208112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50719347 meters Centerline goodness : 0.855600 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99972706e-01 -5.85463716e-03 4.50666180e-03 4.64699799e+00] [ 5.94711177e-03 9.99766235e-01 -2.07872038e-02 -3.31454440e-01] [-4.38390677e-03 2.08134380e-02 9.99773765e-01 -7.12084960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53719347 meters Centerline goodness : 0.855260 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99969017e-01 -6.83497050e-03 3.90487549e-03 4.64867638e+00] [ 6.91699067e-03 9.99747235e-01 -2.13921056e-02 -3.31947180e-01] [-3.75767406e-03 2.14184528e-02 9.99763537e-01 -7.12517664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56719346999999 meters Centerline goodness : 0.859211 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99967676e-01 -7.17146949e-03 3.63557695e-03 4.64936798e+00] [ 7.24882802e-03 9.99737566e-01 -2.17314201e-02 -3.31297741e-01] [-3.47877663e-03 2.17570713e-02 9.99757235e-01 -7.12578830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59719346999999 meters Centerline goodness : 0.857182 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.71 [[ 9.99985610e-01 -4.50780266e-03 2.90863974e-03 4.65140734e+00] [ 4.56175182e-03 9.99812560e-01 -1.88158234e-02 -3.30730260e-01] [-2.82327653e-03 1.88288211e-02 9.99818736e-01 -7.13124071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627193469999995 meters Centerline goodness : 0.854537 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.72 [[ 9.99982600e-01 -4.75897438e-04 5.87994339e-03 4.66910733e+00] [ 6.10336915e-04 9.99737953e-01 -2.28834796e-02 -3.23810502e-01] [-5.86751238e-03 2.28866701e-02 9.99720847e-01 -7.16631527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657193469999996 meters Centerline goodness : 0.854537 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.72 [[ 9.99982600e-01 -4.75897438e-04 5.87994339e-03 4.66910733e+00] [ 6.10336915e-04 9.99737953e-01 -2.28834796e-02 -3.23810502e-01] [-5.86751238e-03 2.28866701e-02 9.99720847e-01 -7.16631527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68719347 meters Centerline goodness : 0.861156 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.32, Z:-0.72 [[ 9.99993089e-01 1.73747869e-03 3.28676253e-03 4.69672045e+00] [-1.66863636e-03 9.99781569e-01 -2.08333701e-02 -3.20869997e-01] [-3.32224214e-03 2.08277417e-02 9.99777559e-01 -7.17483540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71719347 meters Centerline goodness : 0.860446 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.32, Z:-0.72 [[ 9.99988229e-01 4.11174154e-03 2.57601472e-03 4.69964896e+00] [-4.06275699e-03 9.99816123e-01 -1.87406985e-02 -3.17440164e-01] [-2.65259796e-03 1.87300122e-02 9.99821059e-01 -7.19319376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74719346999999 meters Centerline goodness : 0.858798 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.31, Z:-0.72 [[ 9.99975959e-01 6.69992022e-03 1.78663689e-03 4.70247532e+00] [-6.66814913e-03 9.99829280e-01 -1.72321465e-02 -3.11237299e-01] [-1.90178588e-03 1.72198186e-02 9.99849919e-01 -7.20992829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77719346999999 meters Centerline goodness : 0.856434 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.72 [[ 9.99965344e-01 8.25375972e-03 1.08914122e-03 4.70516614e+00] [-8.23565593e-03 9.99842927e-01 -1.56937954e-02 -3.10130506e-01] [-1.21850296e-03 1.56842817e-02 9.99876252e-01 -7.22434811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807193469999994 meters Centerline goodness : 0.856278 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.72 [[ 9.99967043e-01 8.08159488e-03 7.74972979e-04 4.70553107e+00] [-8.06779484e-03 9.99832845e-01 -1.64070891e-02 -3.07686166e-01] [-9.07438885e-04 1.64002960e-02 9.99865094e-01 -7.22003461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837193469999995 meters Centerline goodness : 0.855873 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.72 [[ 9.99937183e-01 1.11967999e-02 5.11498818e-04 4.70605640e+00] [-1.11890444e-02 9.99849668e-01 -1.32456595e-02 -3.06233242e-01] [-6.59730922e-04 1.32391043e-02 9.99912142e-01 -7.21550769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86719347 meters Centerline goodness : 0.863557 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.72 [[ 9.99876235e-01 1.53673668e-02 3.37030358e-03 4.72341704e+00] [-1.53061299e-02 9.99729713e-01 -1.74992197e-02 -2.97134481e-01] [-3.63830956e-03 1.74454676e-02 9.99841197e-01 -7.24940028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89719347 meters Centerline goodness : 0.861179 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.29, Z:-0.73 [[ 9.99832271e-01 1.80940509e-02 2.83479186e-03 4.72578271e+00] [-1.80492934e-02 9.99723220e-01 -1.50899419e-02 -2.93839273e-01] [-3.10704543e-03 1.50362448e-02 9.99882122e-01 -7.26426674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92719347 meters Centerline goodness : 0.857920 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.29, Z:-0.73 [[ 9.99779938e-01 2.08449579e-02 2.35866092e-03 4.72778185e+00] [-2.08138536e-02 9.99704952e-01 -1.25216850e-02 -2.91555138e-01] [-2.61897900e-03 1.24698366e-02 9.99918819e-01 -7.27460618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95719346999999 meters Centerline goodness : 0.853763 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.29, Z:-0.73 [[ 0.9997695 0.02054915 0.0062194 4.74294021] [-0.02041174 0.99956252 -0.02140397 -0.28572609] [-0.00665651 0.02127209 0.99975156 -0.72911809] [ 0. 0. 0. 1. ]] SLAMing on 46.987193469999994 meters Centerline goodness : 0.856422 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.28, Z:-0.73 [[ 0.99977356 0.02039866 0.00606008 4.74302971] [-0.02026255 0.9995585 -0.02173094 -0.28495922] [-0.00650069 0.02160322 0.99974549 -0.72858346] [ 0. 0. 0. 1. ]] SLAMing on 47.017193469999995 meters Centerline goodness : 0.858178 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.28, Z:-0.73 [[ 0.99971282 0.02327108 0.00572072 4.74424944] [-0.02315899 0.99955245 -0.01893553 -0.28276851] [-0.00615881 0.01879761 0.99980434 -0.72872694] [ 0. 0. 0. 1. ]] SLAMing on 47.047193469999996 meters Centerline goodness : 0.857499 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 0.99965256 0.0258896 0.00494872 4.74717079] [-0.02580611 0.9995349 -0.0162488 -0.28135381] [-0.00536709 0.01611544 0.99985573 -0.7303779 ] [ 0. 0. 0. 1. ]] SLAMing on 47.07719347 meters Centerline goodness : 0.861273 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 9.99580890e-01 2.86097966e-02 4.41862403e-03 4.74981291e+00] [-2.85481305e-02 9.99502065e-01 -1.34397146e-02 -2.80307647e-01] [-4.80093135e-03 1.33079384e-02 9.99899920e-01 -7.32160168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10719347 meters Centerline goodness : 0.859634 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 9.99507975e-01 3.11409046e-02 3.74869768e-03 4.75258844e+00] [-3.10992227e-02 9.99458960e-01 -1.07063734e-02 -2.79739870e-01] [-4.08007564e-03 1.05845240e-02 9.99935658e-01 -7.33798112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13719346999999 meters Centerline goodness : 0.860704 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-0.73 [[ 9.99499258e-01 3.14241072e-02 3.70927605e-03 4.75247887e+00] [-3.13825573e-02 9.99449382e-01 -1.07734729e-02 -2.79076476e-01] [-4.04578042e-03 1.06516716e-02 9.99935085e-01 -7.33405377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167193469999994 meters Centerline goodness : 0.862492 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-0.73 [[ 9.99535797e-01 3.04560472e-02 7.87047340e-04 4.75892488e+00] [-3.04489546e-02 9.99505587e-01 -7.83848703e-03 -2.80717742e-01] [-1.02538754e-03 7.81088361e-03 9.99968969e-01 -7.31627896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197193469999995 meters Centerline goodness : 0.862854 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-0.73 [[ 9.99574036e-01 2.91832939e-02 2.87533026e-04 4.76082179e+00] [-2.91796343e-02 9.99535421e-01 -8.80291058e-03 -2.81034900e-01] [-5.44297371e-04 8.79077074e-03 9.99961212e-01 -7.32758411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227193469999996 meters Centerline goodness : 0.864846 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-0.74 [[ 9.99630955e-01 2.71623615e-02 -3.98892653e-04 4.76400238e+00] [-2.71650625e-02 9.99574931e-01 -1.05837645e-02 -2.80415239e-01] [ 1.11243058e-04 1.05906946e-02 9.99943911e-01 -7.35138478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25719347 meters Centerline goodness : 0.862625 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99658358e-01 2.61234218e-02 -8.56234210e-04 4.76600029e+00] [-2.61315878e-02 9.99591518e-01 -1.15731469e-02 -2.79803550e-01] [ 5.53554256e-04 1.15915678e-02 9.99932662e-01 -7.36414111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28719347 meters Centerline goodness : 0.867256 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99668686e-01 2.57137256e-02 -1.15006766e-03 4.76694991e+00] [-2.57255918e-02 9.99598372e-01 -1.18865163e-02 -2.79814969e-01] [ 8.43959141e-04 1.19121643e-02 9.99928691e-01 -7.36798189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31719346999999 meters Centerline goodness : 0.866876 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99702158e-01 2.43272330e-02 -1.94447890e-03 4.76946289e+00] [-2.43506980e-02 9.99617310e-01 -1.31254473e-02 -2.79237989e-01] [ 1.62442895e-03 1.31688875e-02 9.99911967e-01 -7.37957206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34719346999999 meters Centerline goodness : 0.866325 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99732665e-01 2.29719416e-02 -2.62467605e-03 4.77196336e+00] [-2.30074462e-02 9.99631443e-01 -1.44095327e-02 -2.78089204e-01] [ 2.29269377e-03 1.44660676e-02 9.99892732e-01 -7.39421776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377193469999995 meters Centerline goodness : 0.865947 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.28, Z:-0.74 [[ 9.99757283e-01 2.17681198e-02 -3.39479164e-03 4.77471635e+00] [-2.18186274e-02 9.99639796e-01 -1.56277044e-02 -2.76622056e-01] [ 3.05338308e-03 1.56979810e-02 9.99872117e-01 -7.41103505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407193469999996 meters Centerline goodness : 0.867193 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.74 [[ 9.99782650e-01 2.04313639e-02 -4.14882671e-03 4.77733111e+00] [-2.04985419e-02 9.99647841e-01 -1.68524120e-02 -2.75395829e-01] [ 3.80304790e-03 1.69337941e-02 9.99849380e-01 -7.42546617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43719347 meters Centerline goodness : 0.870615 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99865161e-01 1.57647742e-02 -4.59696389e-03 4.77815657e+00] [-1.58595073e-02 9.99646134e-01 -2.13560926e-02 -2.74590478e-01] [ 4.25866320e-03 2.14261186e-02 9.99761364e-01 -7.42452782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46719347 meters Centerline goodness : 0.874747 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.74 [[ 0.99988064 0.0145504 -0.00519572 4.77971728] [-0.01466085 0.99965278 -0.02189461 -0.27549383] [ 0.00487534 0.02196817 0.99974678 -0.74279189] [ 0. 0. 0. 1. ]] SLAMing on 47.49719346999999 meters Centerline goodness : 0.875777 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.74 [[ 0.99989264 0.01354029 -0.00560066 4.78081462] [-0.01366196 0.99965822 -0.02228892 -0.27603123] [ 0.00529694 0.02236304 0.99973588 -0.74294544] [ 0. 0. 0. 1. ]] SLAMing on 47.52719346999999 meters Centerline goodness : 0.876276 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99983012e-01 5.81714450e-03 3.68308871e-04 4.77801155e+00] [-5.81133775e-03 9.99882579e-01 -1.41794396e-02 -2.73931577e-01] [-4.50749473e-04 1.41770584e-02 9.99899399e-01 -7.41799376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557193469999994 meters Centerline goodness : 0.878390 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99984352e-01 5.59083250e-03 1.97338568e-04 4.77842506e+00] [-5.58737960e-03 9.99879056e-01 -1.45139373e-02 -2.72772776e-01] [-2.78459693e-04 1.45126076e-02 9.99894648e-01 -7.41745017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587193469999995 meters Centerline goodness : 0.880619 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99972795e-01 7.36949396e-03 -3.15660072e-04 4.78063721e+00] [-7.37290992e-03 9.99892103e-01 -1.27052392e-02 -2.72623141e-01] [ 2.21994830e-04 1.27072209e-02 9.99919235e-01 -7.42977332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61719347 meters Centerline goodness : 0.882923 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.74 [[ 9.99937823e-01 1.11449072e-02 -3.75996441e-04 4.78153024e+00] [-1.11481950e-02 9.99884583e-01 -1.03217681e-02 -2.67620890e-01] [ 2.60917897e-04 1.03253180e-02 9.99946658e-01 -7.43889828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64719347 meters Centerline goodness : 0.882445 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.74 [[ 9.99894186e-01 1.45247554e-02 -8.05727479e-04 4.78326039e+00] [-1.45304879e-02 9.99865277e-01 -7.63501140e-03 -2.64112443e-01] [ 6.94722255e-04 7.64591112e-03 9.99970528e-01 -7.44895871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67719347 meters Centerline goodness : 0.882566 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.75 [[ 9.99836179e-01 1.80709645e-02 -1.02754470e-03 4.78410900e+00] [-1.80757203e-02 9.99824981e-01 -4.82443666e-03 -2.60886057e-01] [ 9.40182641e-04 4.84221993e-03 9.99987834e-01 -7.45140433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70719346999999 meters Centerline goodness : 0.878677 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.25, Z:-0.75 [[ 9.99727382e-01 2.29616754e-02 4.23351982e-03 4.79576331e+00] [-2.29136374e-02 9.99676198e-01 -1.10663670e-02 -2.53571833e-01] [-4.48625132e-03 1.09663447e-02 9.99929804e-01 -7.48199846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737193469999994 meters Centerline goodness : 0.882741 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.25, Z:-0.75 [[ 9.99669171e-01 2.54574352e-02 3.66983558e-03 4.79803074e+00] [-2.54244051e-02 9.99638169e-01 -8.78238443e-03 -2.51631072e-01] [-3.89208470e-03 8.68617557e-03 9.99954700e-01 -7.49434668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767193469999995 meters Centerline goodness : 0.884389 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.25, Z:-0.75 [[ 9.99615796e-01 2.75423441e-02 3.11136439e-03 4.80099444e+00] [-2.75205491e-02 9.99597815e-01 -6.84309325e-03 -2.49218104e-01] [-3.29858787e-03 6.75483764e-03 9.99971745e-01 -7.51575440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797193469999996 meters Centerline goodness : 0.880823 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.24, Z:-0.75 [[ 9.99558966e-01 2.95883700e-02 2.53024076e-03 4.80434640e+00] [-2.95734147e-02 9.99546033e-01 -5.75676089e-03 -2.43719525e-01] [-2.69942528e-03 5.67939410e-03 9.99980229e-01 -7.54179918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82719347 meters Centerline goodness : 0.882275 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.76 [[ 9.99575344e-01 2.90543757e-02 2.23064632e-03 4.80564351e+00] [-2.90380954e-02 9.99553700e-01 -7.01348161e-03 -2.40716631e-01] [-2.43342311e-03 6.94572957e-03 9.99972917e-01 -7.55107727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85719347 meters Centerline goodness : 0.881994 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.76 [[ 9.99540771e-01 3.02589684e-02 1.62548280e-03 4.80855951e+00] [-3.02486804e-02 9.99524280e-01 -6.01927991e-03 -2.39451922e-01] [-1.80684673e-03 5.96734698e-03 9.99980563e-01 -7.57081810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88719346999999 meters Centerline goodness : 0.884410 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.76 [[ 9.99568028e-01 2.93673789e-02 1.14689030e-03 4.81053193e+00] [-2.93581667e-02 9.99541867e-01 -7.35894010e-03 -2.36719959e-01] [-1.36247765e-03 7.32209064e-03 9.99972265e-01 -7.58419954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917193469999994 meters Centerline goodness : 0.883766 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-0.76 [[ 9.99602097e-01 2.82023052e-02 5.26194758e-04 4.81275635e+00] [-2.81965490e-02 9.99563213e-01 -8.85090900e-03 -2.34417680e-01] [-7.75580960e-04 8.83255033e-03 9.99960691e-01 -7.59860297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947193469999995 meters Centerline goodness : 0.885978 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-0.76 [[ 9.99616105e-01 2.77052997e-02 2.41166712e-04 4.81384982e+00] [-2.77018678e-02 9.99573105e-01 -9.28519793e-03 -2.34165913e-01] [-4.98312951e-04 9.27495262e-03 9.99956863e-01 -7.60504850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977193469999996 meters Centerline goodness : 0.886178 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-0.76 [[ 9.99627739e-01 2.72833744e-02 -2.18807498e-05 4.81470201e+00] [-2.72823283e-02 9.99581716e-01 -9.59514587e-03 -2.33779112e-01] [-2.39916360e-04 9.59217093e-03 9.99953965e-01 -7.60831582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00719347 meters Centerline goodness : 0.884954 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99644836e-01 2.66476626e-02 -3.21697221e-04 4.81555478e+00] [-2.66495539e-02 9.99593597e-01 -1.01213851e-02 -2.33061125e-01] [ 5.18552262e-05 1.01263635e-02 9.99948726e-01 -7.61064324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03719347 meters Centerline goodness : 0.884689 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99703512e-01 2.43323226e-02 -9.08649196e-04 4.81781948e+00] [-2.43414299e-02 9.99632674e-01 -1.19168450e-02 -2.32567821e-01] [ 6.18350910e-04 1.19354296e-02 9.99928579e-01 -7.62204525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06719346999999 meters Centerline goodness : 0.886947 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99738555e-01 2.28121844e-02 -1.55781669e-03 4.82005003e+00] [-2.28307464e-02 9.99652576e-01 -1.31713185e-02 -2.32745789e-01] [ 1.25680892e-03 1.32034411e-02 9.99912041e-01 -7.63370215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09719346999999 meters Centerline goodness : 0.883011 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99764426e-01 2.16004668e-02 -2.12421217e-03 4.82207936e+00] [-2.16286152e-02 9.99664279e-01 -1.42664613e-02 -2.32628641e-01] [ 1.81533681e-03 1.43090443e-02 9.99895972e-01 -7.64508120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127193469999995 meters Centerline goodness : 0.886240 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.76 [[ 9.99777186e-01 2.09430822e-02 -2.63942358e-03 4.82347854e+00] [-2.09804228e-02 9.99667090e-01 -1.50176726e-02 -2.31327221e-01] [ 2.32402854e-03 1.50697027e-02 9.99883745e-01 -7.64901763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157193469999996 meters Centerline goodness : 0.884049 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.23, Z:-0.77 [[ 9.99784264e-01 2.05603758e-02 -2.94893061e-03 4.82474821e+00] [-2.06043135e-02 9.99663868e-01 -1.57357277e-02 -2.29301641e-01] [ 2.62440691e-03 1.57930937e-02 9.99871837e-01 -7.65734670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18719347 meters Centerline goodness : 0.886800 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.23, Z:-0.77 [[ 9.99742272e-01 2.24173052e-02 -3.58531826e-03 4.82771925e+00] [-2.24645572e-02 9.99653328e-01 -1.37320155e-02 -2.28227891e-01] [ 3.27624054e-03 1.38090189e-02 9.99899284e-01 -7.67629042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21719347 meters Centerline goodness : 0.887441 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99689846e-01 2.49012380e-02 3.73370402e-04 4.84409884e+00] [-2.48914543e-02 9.99548976e-01 -1.68006099e-02 -2.24697169e-01] [-7.91557990e-04 1.67861054e-02 9.99858790e-01 -7.68811002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24719346999999 meters Centerline goodness : 0.884493 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99686707e-01 2.50295343e-02 9.86489559e-05 4.84428275e+00] [-2.50241985e-02 9.99540915e-01 -1.70806594e-02 -2.23946825e-01] [-5.26124617e-04 1.70728395e-02 9.99854110e-01 -7.68085763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27719346999999 meters Centerline goodness : 0.883082 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99672461e-01 2.55908080e-02 -2.86425118e-04 4.84467921e+00] [-2.55919979e-02 9.99530139e-01 -1.68686414e-02 -2.23558155e-01] [-1.45391626e-04 1.68704465e-02 9.99857673e-01 -7.67443816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307193469999994 meters Centerline goodness : 0.886630 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-0.77 [[ 9.99575352e-01 2.91350139e-02 -5.16758263e-04 4.84518442e+00] [-2.91392860e-02 9.99489362e-01 -1.31117218e-02 -2.23913844e-01] [ 1.34484189e-04 1.31212119e-02 9.99913904e-01 -7.67024440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337193469999995 meters Centerline goodness : 0.885594 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-0.77 [[ 9.99451381e-01 3.31198079e-02 1.21593830e-04 4.84476739e+00] [-3.31168510e-02 9.99399557e-01 -1.01881838e-02 -2.21050988e-01] [-4.58951509e-04 1.01785675e-02 9.99948092e-01 -7.66123547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36719347 meters Centerline goodness : 0.885412 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-0.77 [[ 9.99314581e-01 3.70184641e-02 -3.80933804e-05 4.84533655e+00] [-3.70180514e-02 9.99297407e-01 -5.86145638e-03 -2.22430736e-01] [-1.78915497e-04 5.85884897e-03 9.99982821e-01 -7.66216528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39719347 meters Centerline goodness : 0.887529 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-0.77 [[ 9.99273664e-01 3.80855732e-02 -1.27800541e-03 4.84835534e+00] [-3.80923812e-02 9.99257332e-01 -5.80996805e-03 -2.22890691e-01] [ 1.05578031e-03 5.85443033e-03 9.99982305e-01 -7.66947250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42719347 meters Centerline goodness : 0.886828 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.99184586e-01 4.01614549e-02 -4.14977091e-03 4.85598261e+00] [-4.01811436e-02 9.99181000e-01 -4.77536392e-03 -2.26683537e-01] [ 3.95458669e-03 4.93821256e-03 9.99979987e-01 -7.70250492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45719346999999 meters Centerline goodness : 0.885647 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-0.77 [[ 0.99913597 0.03771572 -0.01745961 4.85488635] [-0.03781821 0.99926907 -0.00557747 -0.22595177] [ 0.01723649 0.00623294 0.99983201 -0.76597868] [ 0. 0. 0. 1. ]] SLAMing on 48.487193469999994 meters Centerline goodness : 0.882235 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.99062023e-01 3.90018834e-02 -1.88129298e-02 4.85835050e+00] [-3.90959525e-02 9.99224602e-01 -4.65849526e-03 -2.27771635e-01] [ 1.86166522e-02 5.38963511e-03 9.99812168e-01 -7.67322578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517193469999995 meters Centerline goodness : 0.881736 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.98992890e-01 4.01880581e-02 -1.99530770e-02 4.86099209e+00] [-4.02698989e-02 9.99181926e-01 -3.71678791e-03 -2.30041900e-01] [ 1.97873834e-02 4.51655309e-03 9.99794009e-01 -7.67985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547193469999996 meters Centerline goodness : 0.881736 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.98992890e-01 4.01880581e-02 -1.99530770e-02 4.86099209e+00] [-4.02698989e-02 9.99181926e-01 -3.71678791e-03 -2.30041900e-01] [ 1.97873834e-02 4.51655309e-03 9.99794009e-01 -7.67985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57719347 meters Centerline goodness : 0.879727 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-0.77 [[ 9.98865502e-01 4.24128781e-02 -2.16531191e-02 4.86385113e+00] [-4.24664163e-02 9.99095856e-01 -2.01853396e-03 -2.34514570e-01] [ 2.15479297e-02 2.93577431e-03 9.99763506e-01 -7.67456864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60719347 meters Centerline goodness : 0.880878 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.24, Z:-0.77 [[ 9.98840420e-01 4.27483529e-02 -2.21448212e-02 4.86433826e+00] [-4.27863537e-02 9.99083469e-01 -1.24484197e-03 -2.37576079e-01] [ 2.20713098e-02 2.19089463e-03 9.99753998e-01 -7.66915253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63719346999999 meters Centerline goodness : 0.883547 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.77 [[ 9.98941693e-01 3.97318388e-02 -2.31705539e-02 4.86541732e+00] [-3.98535115e-02 9.99193941e-01 -4.81307913e-03 -2.39354727e-01] [ 2.29606446e-02 5.73141335e-03 9.99719941e-01 -7.65782412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667193469999994 meters Centerline goodness : 0.884113 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.25, Z:-0.76 [[ 0.99916732 0.03516282 -0.02069427 4.85841578] [-0.0352805 0.99936313 -0.00534918 -0.24728008] [ 0.020493 0.00607483 0.99977154 -0.76159999] [ 0. 0. 0. 1. ]] SLAMing on 48.697193469999995 meters Centerline goodness : 0.887741 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.25, Z:-0.76 [[ 9.99454680e-01 3.00545921e-02 -1.36771071e-02 4.86811047e+00] [-3.00974799e-02 9.99542642e-01 -2.94073141e-03 -2.51269646e-01] [ 1.35824693e-02 3.35077423e-03 9.99902140e-01 -7.64708780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727193469999996 meters Centerline goodness : 0.886365 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.26, Z:-0.76 [[ 0.99965201 0.02252388 -0.01373106 4.86762882] [-0.02265232 0.99970041 -0.0092711 -0.25582431] [ 0.01351813 0.00957892 0.99986274 -0.76428153] [ 0. 0. 0. 1. ]] SLAMing on 48.75719347 meters Centerline goodness : 0.887182 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.26, Z:-0.77 [[ 0.99967639 0.02091801 -0.01447588 4.87037605] [-0.02106371 0.99972825 -0.00998717 -0.25852576] [ 0.01426304 0.01028885 0.99984534 -0.7658309 ] [ 0. 0. 0. 1. ]] SLAMing on 48.78719347 meters Centerline goodness : 0.888473 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.26, Z:-0.77 [[ 0.9996954 0.01941518 -0.01523684 4.87328512] [-0.01957963 0.99975084 -0.0107188 -0.26110331] [ 0.01502493 0.01101387 0.99982646 -0.76756694] [ 0. 0. 0. 1. ]] SLAMing on 48.81719346999999 meters Centerline goodness : 0.881529 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975083 0.01524383 -0.01630684 4.87802589] [-0.01546569 0.99978836 -0.01356672 -0.26610876] [ 0.01609658 0.01381554 0.99977499 -0.77097702] [ 0. 0. 0. 1. ]] SLAMing on 48.84719346999999 meters Centerline goodness : 0.885553 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975526 0.01403279 -0.01710258 4.88123838] [-0.01427451 0.99979877 -0.01409456 -0.26788713] [ 0.01690135 0.01433524 0.99975439 -0.77304521] [ 0. 0. 0. 1. ]] SLAMing on 48.877193469999995 meters Centerline goodness : 0.885423 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975662 0.01301579 -0.0178129 4.88383006] [-0.0132768 0.99980506 -0.01461405 -0.26854274] [ 0.01761921 0.01484699 0.99973453 -0.77449395] [ 0. 0. 0. 1. ]] SLAMing on 48.907193469999996 meters Centerline goodness : 0.882208 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.27, Z:-0.77 [[ 0.99975446 0.01258947 -0.01823508 4.88484377] [-0.01285648 0.99981075 -0.01460052 -0.26927372] [ 0.01804782 0.01483137 0.99972712 -0.77458774] [ 0. 0. 0. 1. ]] SLAMing on 48.93719347 meters Centerline goodness : 0.881148 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.27, Z:-0.77 [[ 0.99988762 0.00829158 -0.01249004 4.89201811] [-0.0084152 0.99991581 -0.00987728 -0.2701072 ] [ 0.01240709 0.00998128 0.99987321 -0.77484622] [ 0. 0. 0. 1. ]] SLAMing on 48.96719347 meters Centerline goodness : 0.883596 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.27, Z:-0.77 [[ 0.99988759 0.00747639 -0.01299627 4.89319471] [-0.00761125 0.99991738 -0.01035826 -0.27050893] [ 0.01291775 0.01045602 0.99986189 -0.77490881] [ 0. 0. 0. 1. ]] SLAMing on 48.99719346999999 meters Centerline goodness : 0.875938 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 0.99989219 0.0050706 -0.01378069 4.89583725] [-0.00524528 0.99990598 -0.01266922 -0.27100547] [ 0.01371515 0.01274014 0.99982478 -0.77621372] [ 0. 0. 0. 1. ]] SLAMing on 49.02719346999999 meters Centerline goodness : 0.875648 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 9.99897763e-01 5.05695284e-04 -1.42901494e-02 4.89713140e+00] [-7.54058767e-04 9.99848672e-01 -1.73800084e-02 -2.69930996e-01] [ 1.42791979e-02 1.73890071e-02 9.99746831e-01 -7.76598132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057193469999994 meters Centerline goodness : 0.875794 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 9.99890938e-01 -5.41658379e-04 -1.47586709e-02 4.89933237e+00] [ 2.67716933e-04 9.99827767e-01 -1.85570472e-02 -2.67596085e-01] [ 1.47661805e-02 1.85510722e-02 9.99718869e-01 -7.78139510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087193469999995 meters Centerline goodness : 0.876566 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.27, Z:-0.78 [[ 9.99877945e-01 5.79465253e-04 -1.56128157e-02 4.90310332e+00] [-8.46156383e-04 9.99853762e-01 -1.70803651e-02 -2.65412711e-01] [ 1.56006350e-02 1.70914912e-02 9.99732215e-01 -7.80484658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11719347 meters Centerline goodness : 0.876729 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.78 [[ 9.99864970e-01 1.54765901e-03 -1.63599246e-02 4.90676813e+00] [-1.80741421e-03 9.99872356e-01 -1.58746879e-02 -2.63552502e-01] [ 1.63332677e-02 1.59021135e-02 9.99740140e-01 -7.82947845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14719347 meters Centerline goodness : 0.874105 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.79 [[ 9.99850955e-01 -7.78950981e-04 -1.72470311e-02 4.91040269e+00] [ 4.60741671e-04 9.99829745e-01 -1.84463842e-02 -2.60049783e-01] [ 1.72584635e-02 1.84356884e-02 9.99681085e-01 -7.85191565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17719347 meters Centerline goodness : 0.870275 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.79 [[ 9.99841952e-01 -1.62470860e-03 -1.77040047e-02 4.91208451e+00] [ 1.27841690e-03 9.99807987e-01 -1.95538687e-02 -2.58332319e-01] [ 1.77323747e-02 1.95281452e-02 9.99652047e-01 -7.86099363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20719346999999 meters Centerline goodness : 0.872470 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.26, Z:-0.79 [[ 9.99838555e-01 -2.01101784e-03 -1.78555223e-02 4.91270204e+00] [ 1.64615514e-03 9.99790025e-01 -2.04254011e-02 -2.55895414e-01] [ 1.78928489e-02 2.03927106e-02 9.99631924e-01 -7.86374410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237193469999994 meters Centerline goodness : 0.872947 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.25, Z:-0.79 [[ 9.99833953e-01 5.64359799e-04 -1.82139590e-02 4.91414319e+00] [-8.94579774e-04 9.99835292e-01 -1.81269974e-02 -2.53435929e-01] [ 1.82007289e-02 1.81402813e-02 9.99669777e-01 -7.86990845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267193469999995 meters Centerline goodness : 0.876161 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-0.79 [[ 0.99990268 0.00721426 -0.01194108 4.92648081] [-0.007452 0.99977248 -0.01998657 -0.24247114] [ 0.01179417 0.02007361 0.99972894 -0.78963442] [ 0. 0. 0. 1. ]] SLAMing on 49.297193469999996 meters Centerline goodness : 0.873140 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-0.79 [[ 0.9999046 0.01222484 -0.00642924 4.93955353] [-0.01237247 0.99964852 -0.02344687 -0.23618777] [ 0.00614035 0.02352418 0.99970441 -0.79276029] [ 0. 0. 0. 1. ]] SLAMing on 49.32719347 meters Centerline goodness : 0.873130 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.23, Z:-0.79 [[ 0.99985381 0.01570283 -0.00676582 4.94078288] [-0.01584193 0.9996535 -0.02102157 -0.23124781] [ 0.00643337 0.02112568 0.99975613 -0.79315538] [ 0. 0. 0. 1. ]] SLAMing on 49.35719347 meters Centerline goodness : 0.866975 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.22, Z:-0.80 [[ 9.99784126e-01 2.03494881e-02 -4.19517432e-03 4.96033938e+00] [-2.04435343e-02 9.99508933e-01 -2.37477466e-02 -2.21157059e-01] [ 3.70985972e-03 2.38283842e-02 9.99709180e-01 -7.96781666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38719346999999 meters Centerline goodness : 0.869479 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.22, Z:-0.80 [[ 9.99716531e-01 2.33946879e-02 -4.42113474e-03 4.96090662e+00] [-2.34831166e-02 9.99500750e-01 -2.11375074e-02 -2.18174445e-01] [ 3.92442210e-03 2.12353376e-02 9.99766802e-01 -7.96404425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417193469999994 meters Centerline goodness : 0.869108 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.21, Z:-0.80 [[ 9.99718147e-01 2.32694462e-02 -4.70737590e-03 4.96128605e+00] [-2.33696176e-02 9.99474118e-01 -2.24799482e-02 -2.13121453e-01] [ 4.18180443e-03 2.25836217e-02 9.99736211e-01 -7.95679110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447193469999995 meters Centerline goodness : 0.871701 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.21, Z:-0.79 [[ 0.99967191 0.0243115 -0.00806361 4.96808722] [-0.02444989 0.99954729 -0.01753306 -0.20966862] [ 0.0076337 0.01772446 0.99981377 -0.7926578 ] [ 0. 0. 0. 1. ]] SLAMing on 49.477193469999996 meters Centerline goodness : 0.862543 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.79 [[ 0.99960885 0.02673096 -0.00822194 4.96865636] [-0.02686462 0.99950122 -0.01660116 -0.2015426 ] [ 0.00777407 0.01681555 0.99982839 -0.79185553] [ 0. 0. 0. 1. ]] SLAMing on 49.50719347 meters Centerline goodness : 0.865551 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.79 [[ 0.99954747 0.02876377 -0.0088038 4.97100411] [-0.02889126 0.99947425 -0.0147144 -0.19922043] [ 0.00837593 0.01496209 0.99985298 -0.79294354] [ 0. 0. 0. 1. ]] SLAMing on 49.53719347 meters Centerline goodness : 0.863280 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.79 [[ 0.99955614 0.02836815 -0.00909792 4.9718846 ] [-0.02851012 0.99946744 -0.01587456 -0.19585277] [ 0.00864274 0.01612689 0.9998326 -0.79309077] [ 0. 0. 0. 1. ]] SLAMing on 49.56719346999999 meters Centerline goodness : 0.863229 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.79 [[ 0.99951498 0.02951538 -0.00993178 4.97507092] [-0.02966088 0.9994499 -0.01483644 -0.19271683] [ 0.00948841 0.01512383 0.99984061 -0.79465294] [ 0. 0. 0. 1. ]] SLAMing on 49.59719346999999 meters Centerline goodness : 0.863411 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.80 [[ 0.99953211 0.02882916 -0.01021972 4.97623946] [-0.0289878 0.99945599 -0.01572968 -0.1912105 ] [ 0.00976069 0.01601857 0.99982405 -0.79539595] [ 0. 0. 0. 1. ]] SLAMing on 49.627193469999995 meters Centerline goodness : 0.862991 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.80 [[ 0.99954287 0.02834 -0.01053087 4.97748499] [-0.02851193 0.99945642 -0.01655124 -0.18964479] [ 0.01005609 0.01684393 0.99980756 -0.79611209] [ 0. 0. 0. 1. ]] SLAMing on 49.657193469999996 meters Centerline goodness : 0.866556 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.19, Z:-0.80 [[ 0.9995256 0.02853251 -0.01159612 4.9823896 ] [-0.0287244 0.99944732 -0.01673187 -0.18685799] [ 0.01111231 0.01705702 0.99979277 -0.7994998 ] [ 0. 0. 0. 1. ]] SLAMing on 49.68719347 meters Centerline goodness : 0.864929 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.19, Z:-0.80 [[ 0.99943634 0.0311808 -0.01244007 4.98565594] [-0.03135291 0.99941188 -0.01388831 -0.18642946] [ 0.0119997 0.01427052 0.99982616 -0.80158161] [ 0. 0. 0. 1. ]] SLAMing on 49.71719347 meters Centerline goodness : 0.864461 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99933829 0.03389953 -0.01318332 4.98866603] [-0.03405202 0.99935367 -0.0115194 -0.18453317] [ 0.0127843 0.0119607 0.99984674 -0.80318919] [ 0. 0. 0. 1. ]] SLAMing on 49.74719346999999 meters Centerline goodness : 0.861820 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99931534 0.03424191 -0.01401233 4.99050837] [-0.0344235 0.99932369 -0.01293004 -0.18126059] [ 0.0135601 0.01340354 0.99981822 -0.80283845] [ 0. 0. 0. 1. ]] SLAMing on 49.77719346999999 meters Centerline goodness : 0.862295 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99926796 0.03561207 -0.01397617 4.9892106 ] [-0.03579445 0.99927431 -0.0130236 -0.1795109 ] [ 0.01350223 0.01351434 0.99981751 -0.80042617] [ 0. 0. 0. 1. ]] SLAMing on 49.807193469999994 meters Centerline goodness : 0.863854 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99927697 0.0352301 -0.01429607 4.98977763] [-0.03542616 0.99927837 -0.01370129 -0.17898572] [ 0.01380306 0.01419784 0.99980393 -0.80006233] [ 0. 0. 0. 1. ]] SLAMing on 49.837193469999995 meters Centerline goodness : 0.860356 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99928964 0.03493739 -0.01412759 4.98904546] [-0.03513376 0.99928597 -0.01389845 -0.17903794] [ 0.01363193 0.01438493 0.9998036 -0.79923857] [ 0. 0. 0. 1. ]] SLAMing on 49.86719347 meters Centerline goodness : 0.855252 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99949935 0.02990276 -0.01033778 4.99294085] [-0.02997097 0.99952958 -0.00650818 -0.18096376] [ 0.01013831 0.00681476 0.99992538 -0.79740991] [ 0. 0. 0. 1. ]] SLAMing on 49.89719347 meters Centerline goodness : 0.855172 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99952814 0.02900927 -0.01009738 4.99253568] [-0.02907809 0.99955444 -0.00673737 -0.18156498] [ 0.00989743 0.0070278 0.99992632 -0.79750507] [ 0. 0. 0. 1. ]] SLAMing on 49.92719347 meters Centerline goodness : 0.853684 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99954502 0.0283989 -0.01016169 4.99298268] [-0.02846746 0.99957249 -0.00666685 -0.18248018] [ 0.00996802 0.0069531 0.99992614 -0.7980237 ] [ 0. 0. 0. 1. ]] SLAMing on 49.95719346999999 meters Centerline goodness : 0.854150 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99957888 0.02702374 -0.01057218 4.99440664] [-0.02710248 0.99960544 -0.00737685 -0.18290105] [ 0.01036866 0.00766027 0.9999169 -0.79906695] [ 0. 0. 0. 1. ]] SLAMing on 49.987193469999994 meters Centerline goodness : 0.853662 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.80 [[ 0.99967524 0.02304579 -0.01087724 4.99491488] [-0.02316567 0.99967082 -0.01102704 -0.18473006] [ 0.01061953 0.01127544 0.99988004 -0.79890946] [ 0. 0. 0. 1. ]] SLAMing on 50.017193469999995 meters Centerline goodness : 0.852384 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.19, Z:-0.80 [[ 0.99971332 0.02093518 -0.01161865 4.99778868] [-0.02108496 0.99969417 -0.01292269 -0.18537609] [ 0.01134456 0.01316396 0.99984899 -0.80069558] [ 0. 0. 0. 1. ]] SLAMing on 50.047193469999996 meters Centerline goodness : 0.853682 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.18, Z:-0.80 [[ 0.99974672 0.01881169 -0.01235364 5.00134636] [-0.01899247 0.99971181 -0.0146828 -0.18436406] [ 0.01207387 0.0149137 0.99981588 -0.80329046] [ 0. 0. 0. 1. ]] SLAMing on 50.07719347 meters Centerline goodness : 0.852560 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.18, Z:-0.81 [[ 0.99975621 0.01779314 -0.01307375 5.00416933] [-0.01799689 0.99971578 -0.01563555 -0.18339212] [ 0.01279183 0.01586703 0.99979228 -0.80501142] [ 0. 0. 0. 1. ]] SLAMing on 50.10719347 meters Centerline goodness : 0.852378 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.18, Z:-0.81 [[ 0.99976279 0.01708505 -0.01350815 5.00567553] [-0.01730621 0.99971525 -0.0164291 -0.18216363] [ 0.01322361 0.01665898 0.99977378 -0.80571651] [ 0. 0. 0. 1. ]] SLAMing on 50.13719346999999 meters Centerline goodness : 0.853632 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.18, Z:-0.81 [[ 0.99977997 0.01559037 -0.01403429 5.00694673] [-0.01584168 0.99971288 -0.01797777 -0.17952708] [ 0.01374998 0.01819614 0.99973989 -0.80576542] [ 0. 0. 0. 1. ]] SLAMing on 50.167193469999994 meters Centerline goodness : 0.854189 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.18, Z:-0.81 [[ 0.9997893 0.01458468 -0.01444471 5.00806187] [-0.01485732 0.99971003 -0.01895057 -0.17789414] [ 0.01416413 0.01916118 0.99971607 -0.80601167] [ 0. 0. 0. 1. ]] SLAMing on 50.197193469999995 meters Centerline goodness : 0.856384 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.18, Z:-0.81 [[ 0.99990008 0.01058491 -0.00936973 5.01792288] [-0.01071269 0.99984884 -0.01369403 -0.17704706] [ 0.00922337 0.01379304 0.99986233 -0.80850039] [ 0. 0. 0. 1. ]] SLAMing on 50.227193469999996 meters Centerline goodness : 0.854783 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.17, Z:-0.81 [[ 0.99991123 0.00868971 -0.01010074 5.02028443] [-0.00884614 0.99984 -0.01554753 -0.17484928] [ 0.00996402 0.0156355 0.99982811 -0.8095772 ] [ 0. 0. 0. 1. ]] SLAMing on 50.25719347 meters Centerline goodness : 0.854484 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.17, Z:-0.81 [[ 0.99992234 0.00535508 -0.01125337 5.02440889] [-0.00556908 0.9998026 -0.01907197 -0.16945543] [ 0.01114902 0.01913316 0.99975478 -0.81183288] [ 0. 0. 0. 1. ]] SLAMing on 50.28719347 meters Centerline goodness : 0.852186 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.17, Z:-0.81 [[ 9.99922854e-01 4.58317438e-03 -1.15447228e-02 5.02574007e+00] [-4.81555877e-03 9.99784719e-01 -2.01823434e-02 -1.66541452e-01] [ 1.14497382e-02 2.02363807e-02 9.99729660e-01 -8.12604083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31719346999999 meters Centerline goodness : 0.854408 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.16, Z:-0.81 [[ 0.99991081 0.00647234 -0.01168236 5.02650087] [-0.00669538 0.99979411 -0.01915474 -0.15936325] [ 0.01155598 0.01923125 0.99974828 -0.81259302] [ 0. 0. 0. 1. ]] SLAMing on 50.34719346999999 meters Centerline goodness : 0.861994 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.16, Z:-0.81 [[ 0.99988607 0.00893076 -0.01216877 5.02832681] [-0.00913912 0.99981071 -0.01717591 -0.15539098] [ 0.01201307 0.01728516 0.99977843 -0.81333576] [ 0. 0. 0. 1. ]] SLAMing on 50.377193469999995 meters Centerline goodness : 0.857782 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.15, Z:-0.81 [[ 0.99985565 0.01144922 -0.01255377 5.03046663] [-0.01164296 0.99981254 -0.01546988 -0.15041821] [ 0.01237429 0.01561381 0.99980152 -0.81470233] [ 0. 0. 0. 1. ]] SLAMing on 50.407193469999996 meters Centerline goodness : 0.858279 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.15, Z:-0.82 [[ 0.99981492 0.01396362 -0.01323444 5.03340547] [-0.01414674 0.99980407 -0.01384545 -0.14522472] [ 0.01303852 0.01403011 0.99981656 -0.81642938] [ 0. 0. 0. 1. ]] SLAMing on 50.43719347 meters Centerline goodness : 0.860727 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.14, Z:-0.82 [[ 0.99977612 0.01596507 -0.01388625 5.03664671] [-0.01613977 0.99979085 -0.01256059 -0.14051224] [ 0.01368282 0.0127819 0.99982469 -0.81860655] [ 0. 0. 0. 1. ]] SLAMing on 50.46719347 meters Centerline goodness : 0.860727 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.14, Z:-0.82 [[ 0.99977612 0.01596507 -0.01388625 5.03664671] [-0.01613977 0.99979085 -0.01256059 -0.14051224] [ 0.01368282 0.0127819 0.99982469 -0.81860655] [ 0. 0. 0. 1. ]] SLAMing on 50.49719346999999 meters Centerline goodness : 0.852364 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.13, Z:-0.82 [[ 0.99973135 0.01834597 -0.01416527 5.03860795] [-0.01853097 0.99974323 -0.01304143 -0.13061157] [ 0.01392238 0.01330042 0.99981462 -0.81907713] [ 0. 0. 0. 1. ]] SLAMing on 50.52719346999999 meters Centerline goodness : 0.852965 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.13, Z:-0.82 [[ 0.9996769 0.02111315 -0.01415362 5.0379537 ] [-0.02127888 0.99970556 -0.01166234 -0.12568766] [ 0.01390322 0.01195975 0.99983182 -0.81742306] [ 0. 0. 0. 1. ]] SLAMing on 50.557193469999994 meters Centerline goodness : 0.857340 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.12, Z:-0.82 [[ 0.99966185 0.02414772 -0.00964776 5.05313188] [-0.02423966 0.99966076 -0.0095294 -0.12242928] [ 0.00941437 0.00976003 0.99990805 -0.81621552] [ 0. 0. 0. 1. ]] SLAMing on 50.587193469999995 meters Centerline goodness : 0.852202 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.11, Z:-0.81 [[ 0.99961729 0.02598417 -0.00949228 5.05220998] [-0.0260817 0.99960675 -0.01030012 -0.11271126] [ 0.00922091 0.01054375 0.9999019 -0.81375622] [ 0. 0. 0. 1. ]] SLAMing on 50.61719347 meters Centerline goodness : 0.853777 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.11, Z:-0.81 [[ 0.99955203 0.02839241 -0.00946631 5.05188341] [-0.02847443 0.99955713 -0.00864534 -0.10899567] [ 0.00921666 0.00891101 0.99991782 -0.81274401] [ 0. 0. 0. 1. ]] SLAMing on 50.64719347 meters Centerline goodness : 0.857507 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.10, Z:-0.81 [[ 0.99955772 0.02811439 -0.00969279 5.05249066] [-0.02821302 0.99954995 -0.010194 -0.10424082] [ 0.00940183 0.01046295 0.99990106 -0.81245102] [ 0. 0. 0. 1. ]] SLAMing on 50.67719346999999 meters Centerline goodness : 0.858806 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.10, Z:-0.81 [[ 0.99947719 0.03065386 -0.01028019 5.05567072] [-0.03074694 0.99948648 -0.00902177 -0.09722362] [ 0.00999836 0.00933313 0.99990646 -0.81443014] [ 0. 0. 0. 1. ]] SLAMing on 50.70719346999999 meters Centerline goodness : 0.858048 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.09, Z:-0.82 [[ 0.99947273 0.03058451 -0.01090178 5.05895181] [-0.0306916 0.9994809 -0.00979552 -0.0933919 ] [ 0.01059653 0.01012494 0.99989259 -0.81670655] [ 0. 0. 0. 1. ]] SLAMing on 50.737193469999994 meters Centerline goodness : 0.850309 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.09, Z:-0.82 [[ 9.99503557e-01 3.04395483e-02 -8.12858746e-03 5.05084786e+00] [-3.04562345e-02 9.99534225e-01 -1.93692359e-03 -9.04664558e-02] [ 8.06584229e-03 2.18352819e-03 9.99965087e-01 -8.19249776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767193469999995 meters Centerline goodness : 0.851152 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.09, Z:-0.82 [[ 9.99511079e-01 3.01649682e-02 -8.22658942e-03 5.05124075e+00] [-3.01897041e-02 9.99539982e-01 -2.89937534e-03 -8.69185457e-02] [ 8.13534548e-03 3.14631607e-03 9.99961958e-01 -8.19288070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797193469999996 meters Centerline goodness : 0.855020 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.08, Z:-0.82 [[ 9.99543701e-01 2.90179853e-02 -8.38731815e-03 5.05128237e+00] [-2.90576171e-02 9.99566957e-01 -4.64258982e-03 -8.16091284e-02] [ 8.24896748e-03 4.88418689e-03 9.99954049e-01 -8.18528634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82719347 meters Centerline goodness : 0.855273 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.08, Z:-0.82 [[ 0.99956355 0.02826514 -0.00859043 5.05125785] [-0.02831259 0.99958424 -0.00545318 -0.07938287] [ 0.00843273 0.00569401 0.99994823 -0.81779488] [ 0. 0. 0. 1. ]] SLAMing on 50.85719347 meters Centerline goodness : 0.854814 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.08, Z:-0.82 [[ 0.99959939 0.02691689 -0.00874861 5.05118941] [-0.02697619 0.99961341 -0.00673186 -0.07766291] [ 0.00856403 0.00696517 0.99993907 -0.81722606] [ 0. 0. 0. 1. ]] SLAMing on 50.88719346999999 meters Centerline goodness : 0.853303 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.07, Z:-0.82 [[ 0.99973362 0.02137164 -0.00871469 5.05117322] [-0.02147961 0.99969125 -0.01249111 -0.07459951] [ 0.00844504 0.01267498 0.99988401 -0.81729982] [ 0. 0. 0. 1. ]] SLAMing on 50.917193469999994 meters Centerline goodness : 0.852967 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.07, Z:-0.82 [[ 0.99976308 0.01966879 -0.00932302 5.05362408] [-0.01979851 0.99970551 -0.0140322 -0.07288336] [ 0.00904428 0.01421346 0.99985808 -0.81892551] [ 0. 0. 0. 1. ]] SLAMing on 50.947193469999995 meters Centerline goodness : 0.853642 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.07, Z:-0.82 [[ 0.99977099 0.01914926 -0.00955335 5.0546996 ] [-0.01929012 0.99970322 -0.01487795 -0.06992786] [ 0.00926561 0.01505883 0.99984368 -0.81959184] [ 0. 0. 0. 1. ]] SLAMing on 50.977193469999996 meters Centerline goodness : 0.855415 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.06, Z:-0.82 [[ 0.99970455 0.02230836 -0.00965155 5.05631113] [-0.02242983 0.99966818 -0.01266657 -0.06370774] [ 0.00936578 0.01287931 0.99987319 -0.8209216 ] [ 0. 0. 0. 1. ]] SLAMing on 51.00719347 meters Centerline goodness : 0.857538 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.06, Z:-0.82 [[ 0.99964107 0.02469931 -0.01037682 5.05921381] [-0.02480978 0.9996354 -0.01065594 -0.06133583] [ 0.01010985 0.01090956 0.99988938 -0.82258574] [ 0. 0. 0. 1. ]] SLAMing on 51.03719347 meters Centerline goodness : 0.854973 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.06, Z:-0.82 [[ 0.99955178 0.02807201 -0.01040213 5.05956111] [-0.02815356 0.99957335 -0.00777742 -0.05885574] [ 0.01017937 0.00806679 0.99991565 -0.82258741] [ 0. 0. 0. 1. ]] SLAMing on 51.06719346999999 meters Centerline goodness : 0.854480 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.05, Z:-0.82 [[ 0.99945147 0.03146209 -0.01033876 5.05938582] [-0.03151675 0.99948987 -0.0051675 -0.05472212] [ 0.01017091 0.00549051 0.9999332 -0.8219876 ] [ 0. 0. 0. 1. ]] SLAMing on 51.09719346999999 meters Centerline goodness : 0.852392 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.04, Z:-0.82 [[ 9.99202316e-01 3.86423340e-02 -1.00747665e-02 5.05861070e+00] [-3.86475832e-02 9.99252850e-01 -3.26786060e-04 -4.36220610e-02] [ 1.00546113e-02 7.15890764e-04 9.99949195e-01 -8.19937591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127193469999995 meters Centerline goodness : 0.852202 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.04, Z:-0.82 [[ 9.99043667e-01 4.25369597e-02 -1.01172413e-02 5.05918298e+00] [-4.25165494e-02 9.99093287e-01 2.22407190e-03 -3.92291048e-02] [ 1.02026731e-02 -1.79179476e-03 9.99946346e-01 -8.19747551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157193469999996 meters Centerline goodness : 0.854336 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.04, Z:-0.82 [[ 9.98848319e-01 4.68859863e-02 -1.01853061e-02 5.05981858e+00] [-4.68358578e-02 9.98889550e-01 5.10578539e-03 -3.54270956e-02] [ 1.04133856e-02 -4.62286760e-03 9.99935093e-01 -8.19567942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18719347 meters Centerline goodness : 0.855464 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.03, Z:-0.82 [[ 9.98204341e-01 5.86451214e-02 -1.22001349e-02 5.06654877e+00] [-5.85794111e-02 9.98266617e-01 5.67571028e-03 -2.68343305e-02] [ 1.25118402e-02 -4.95084192e-03 9.99909467e-01 -8.15595143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21719347 meters Centerline goodness : 0.847447 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.02, Z:-0.82 [[ 0.99795138 0.06279423 -0.0122447 5.06702441] [-0.06269234 0.99799641 0.00853497 -0.02321154] [ 0.01275612 -0.00774983 0.9998886 -0.81522119] [ 0. 0. 0. 1. ]] SLAMing on 51.24719346999999 meters Centerline goodness : 0.848609 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.02, Z:-0.81 [[ 0.99768368 0.06692517 -0.01217739 5.06742903] [-0.06678187 0.99769762 0.01181683 -0.02042808] [ 0.01294019 -0.01097623 0.99985603 -0.81499889] [ 0. 0. 0. 1. ]] SLAMing on 51.27719346999999 meters Centerline goodness : 0.851589 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.02, Z:-0.82 [[ 0.99710578 0.07579668 -0.00591051 5.07611317] [-0.0757328 0.99707421 0.01037171 -0.01509821] [ 0.00667936 -0.00989407 0.99992874 -0.81636478] [ 0. 0. 0. 1. ]] SLAMing on 51.307193469999994 meters Centerline goodness : 0.849810 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.01, Z:-0.82 [[ 0.99704734 0.07654346 -0.00613988 5.07644085] [-0.07647898 0.99701976 0.01012773 -0.01277447] [ 0.00689679 -0.00962825 0.99992986 -0.81566372] [ 0. 0. 0. 1. ]] SLAMing on 51.337193469999995 meters Centerline goodness : 0.851122 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.01, Z:-0.82 [[ 0.99700122 0.07711935 -0.00641708 5.07677524] [-0.07705074 0.99697367 0.01032921 -0.01244019] [ 0.00719425 -0.00980379 0.99992606 -0.81520606] [ 0. 0. 0. 1. ]] SLAMing on 51.36719347 meters Centerline goodness : 0.851497 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.02, Z:-0.82 [[ 0.99703527 0.07656976 -0.00759923 5.08047098] [-0.07649838 0.99702653 0.00927841 -0.01728442] [ 0.00828708 -0.00866958 0.99992808 -0.81759578] [ 0. 0. 0. 1. ]] SLAMing on 51.39719347 meters Centerline goodness : 0.851603 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.02, Z:-0.82 [[ 0.99709209 0.07539281 -0.01110391 5.10308138] [-0.07529139 0.99711834 0.00928537 -0.0220178 ] [ 0.01177196 -0.00842234 0.99989524 -0.81907318] [ 0. 0. 0. 1. ]] SLAMing on 51.42719346999999 meters Centerline goodness : 0.851435 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.03, Z:-0.82 [[ 0.99722205 0.07352759 -0.01191119 5.10580895] [-0.07344129 0.99727113 0.00752788 -0.02515148] [ 0.0124322 -0.00663219 0.99990072 -0.82110079] [ 0. 0. 0. 1. ]] SLAMing on 51.45719346999999 meters Centerline goodness : 0.852348 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.03, Z:-0.82 [[ 9.97392478e-01 7.10613706e-02 -1.25907391e-02 5.10778964e+00] [-7.09974204e-02 9.97461578e-01 5.45590384e-03 -2.83906756e-02] [ 1.29464825e-02 -4.54776745e-03 9.99905849e-01 -8.22493959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487193469999994 meters Centerline goodness : 0.856161 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.04, Z:-0.83 [[ 0.99787818 0.06417078 -0.01101144 5.13115894] [-0.06399819 0.99783166 0.01536904 -0.03926448] [ 0.0119738 -0.01463171 0.99982125 -0.82535905] [ 0. 0. 0. 1. ]] SLAMing on 51.517193469999995 meters Centerline goodness : 0.854613 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.04, Z:-0.83 [[ 0.99803525 0.06158063 -0.01155233 5.13219312] [-0.06142225 0.99801924 0.01359782 -0.04330879] [ 0.01236681 -0.01286154 0.99984081 -0.82555261] [ 0. 0. 0. 1. ]] SLAMing on 51.547193469999996 meters Centerline goodness : 0.853286 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.05, Z:-0.83 [[ 9.98344848e-01 5.72839367e-02 -5.11020543e-03 5.14277306e+00] [-5.71866000e-02 9.98210036e-01 1.75047772e-02 -4.90731470e-02] [ 6.10380089e-03 -1.71835689e-02 9.99833720e-01 -8.28683836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57719347 meters Centerline goodness : 0.853547 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.06, Z:-0.83 [[ 9.98635268e-01 5.22227237e-02 -6.22655434e-04 5.15686018e+00] [-5.22064308e-02 9.98511758e-01 1.57720759e-02 -6.31502156e-02] [ 1.44538954e-03 -1.57180447e-02 9.99875419e-01 -8.28589989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60719347 meters Centerline goodness : 0.853607 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.07, Z:-0.83 [[ 9.98800611e-01 4.89556671e-02 -8.26240637e-04 5.15725662e+00] [-4.89403874e-02 9.98713232e-01 1.32935835e-02 -6.98931861e-02] [ 1.47597370e-03 -1.32372027e-02 9.99911295e-01 -8.28897007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63719346999999 meters Centerline goodness : 0.853366 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.08, Z:-0.83 [[ 9.98947742e-01 4.58472444e-02 -1.19982715e-03 5.15825986e+00] [-4.58310219e-02 9.98886707e-01 1.11742451e-02 -7.52371421e-02] [ 1.71079974e-03 -1.11074976e-02 9.99936846e-01 -8.29608691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667193469999994 meters Centerline goodness : 0.860102 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.08, Z:-0.83 [[ 9.99053444e-01 4.34663572e-02 -1.70062583e-03 5.16045237e+00] [-4.34473840e-02 9.99006265e-01 9.94017742e-03 -7.96494393e-02] [ 2.13099917e-03 -9.85688074e-03 9.99949149e-01 -8.31186065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697193469999995 meters Centerline goodness : 0.850851 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.10, Z:-0.83 [[ 9.99358342e-01 3.57118204e-02 -2.75145416e-03 5.18348944e+00] [-3.55397129e-02 9.98224630e-01 4.77966198e-02 -9.81899878e-02] [ 4.45347361e-03 -4.76681648e-02 9.98853299e-01 -8.25189959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727193469999996 meters Centerline goodness : 0.855200 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.83 [[ 9.99482750e-01 3.21063234e-02 1.84858117e-03 5.19204405e+00] [-3.21594669e-02 9.97908049e-01 5.60829203e-02 -1.05918226e-01] [-4.40976490e-05 -5.61133608e-02 9.98424403e-01 -8.25360195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75719347 meters Centerline goodness : 0.860387 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.82 [[ 9.99560593e-01 2.96046266e-02 1.47905084e-03 5.19164500e+00] [-2.96411256e-02 9.98034054e-01 5.52216510e-02 -1.11021308e-01] [ 1.58673247e-04 -5.52412269e-02 9.98473025e-01 -8.23020837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78719347 meters Centerline goodness : 0.854463 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.11, Z:-0.82 [[ 9.99617194e-01 2.76257439e-02 1.51099788e-03 5.19023818e+00] [-2.76670348e-02 9.98135865e-01 5.43997217e-02 -1.14645238e-01] [-5.34839950e-06 -5.44207020e-02 9.98518096e-01 -8.20341867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81719346999999 meters Centerline goodness : 0.859483 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.12, Z:-0.82 [[ 9.99654038e-01 2.62447218e-02 1.73721197e-03 5.18778585e+00] [-2.63005710e-02 9.98135897e-01 5.50727848e-02 -1.20483535e-01] [-2.88603712e-04 -5.50994214e-02 9.98480831e-01 -8.16315499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84719346999999 meters Centerline goodness : 0.854919 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.12, Z:-0.82 [[ 9.99735648e-01 2.29495616e-02 1.39685433e-03 5.18809199e+00] [-2.29911638e-02 9.98379455e-01 5.20564203e-02 -1.21604700e-01] [-1.99918634e-04 -5.20747744e-02 9.98643168e-01 -8.15687818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877193469999995 meters Centerline goodness : 0.856446 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99873033e-01 1.58774698e-02 1.35032670e-03 5.18785316e+00] [-1.59225313e-02 9.98833172e-01 4.55934941e-02 -1.25226191e-01] [-6.24841776e-04 -4.56092059e-02 9.98959163e-01 -8.15498139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907193469999996 meters Centerline goodness : 0.858140 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99926445e-01 1.20902195e-02 9.64537548e-04 5.18851967e+00] [-1.21200139e-02 9.99048742e-01 4.18893319e-02 -1.26169964e-01] [-4.57168808e-04 -4.18979409e-02 9.99121791e-01 -8.15521229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93719347 meters Centerline goodness : 0.855838 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99964677e-01 8.38798178e-03 5.34633722e-04 5.18941515e+00] [-8.40225248e-03 9.99240215e-01 3.80577931e-02 -1.26355626e-01] [-2.14999440e-04 -3.80609410e-02 9.99275397e-01 -8.15667269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96719347 meters Centerline goodness : 0.859195 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.82 [[ 9.99988109e-01 4.86281737e-03 3.66948208e-04 5.18970372e+00] [-4.87248003e-03 9.99410334e-01 3.39888629e-02 -1.25351368e-01] [-2.01450199e-04 -3.39902467e-02 9.99422144e-01 -8.15598259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99719346999999 meters Centerline goodness : 0.865743 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99970479e-01 5.91492733e-03 -4.90466036e-03 5.20040062e+00] [-5.77009809e-03 9.99561738e-01 2.90350989e-02 -1.24068415e-01] [ 5.07425133e-03 -2.90059414e-02 9.99566360e-01 -8.14781876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02719346999999 meters Centerline goodness : 0.864525 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.12, Z:-0.82 [[ 0.9999442 0.00685539 -0.00803738 5.20719353] [-0.00662836 0.99958759 0.02794113 -0.12233604] [ 0.00822562 -0.0278863 0.99957726 -0.81592898] [ 0. 0. 0. 1. ]] SLAMing on 52.057193469999994 meters Centerline goodness : 0.865508 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.12, Z:-0.82 [[ 0.999941 0.00641757 -0.00876434 5.2102921 ] [-0.00618129 0.99962371 0.02672513 -0.11932606] [ 0.00893255 -0.02666938 0.9996044 -0.8181735 ] [ 0. 0. 0. 1. ]] SLAMing on 52.087193469999995 meters Centerline goodness : 0.872471 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.12, Z:-0.82 [[ 0.9999133 0.0090423 -0.00957262 5.21390347] [-0.008768 0.9995605 0.02831829 -0.11511911] [ 0.00982448 -0.0282319 0.99955312 -0.82097692] [ 0. 0. 0. 1. ]] SLAMing on 52.11719347 meters Centerline goodness : 0.870665 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.11, Z:-0.82 [[ 0.99990228 0.01185078 -0.00741517 5.22422649] [-0.01170237 0.99973651 0.01974731 -0.11096713] [ 0.00764724 -0.01965861 0.9997775 -0.8226528 ] [ 0. 0. 0. 1. ]] SLAMing on 52.14719347 meters Centerline goodness : 0.869549 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.11, Z:-0.82 [[ 0.99990304 0.01163312 -0.0076535 5.22528466] [-0.01148983 0.9997627 0.01850749 -0.10714479] [ 0.00786698 -0.01841776 0.99979943 -0.82335515] [ 0. 0. 0. 1. ]] SLAMing on 52.17719346999999 meters Centerline goodness : 0.865178 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.82 [[ 0.99990128 0.01156683 -0.00797723 5.22631243] [-0.01142846 0.99978712 0.01717857 -0.10328675] [ 0.00817423 -0.0170857 0.99982061 -0.82382973] [ 0. 0. 0. 1. ]] SLAMing on 52.20719346999999 meters Centerline goodness : 0.871080 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.82 [[ 0.99993634 0.00777754 -0.00817519 5.22680818] [-0.00767423 0.99989124 0.01259402 -0.10122437] [ 0.00827226 -0.01253048 0.99988727 -0.82395094] [ 0. 0. 0. 1. ]] SLAMing on 52.237193469999994 meters Centerline goodness : 0.869816 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.10, Z:-0.82 [[ 9.99957490e-01 4.04499575e-03 -8.28586145e-03 5.22699246e+00] [-3.97687463e-03 9.99958296e-01 8.22141232e-03 -9.95341678e-02] [ 8.31877148e-03 -8.18811100e-03 9.99931874e-01 -8.23891914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267193469999995 meters Centerline goodness : 0.870605 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.83 [[ 9.99982319e-01 2.76048919e-03 -5.26703007e-03 5.23716123e+00] [-2.78162509e-03 9.99988092e-01 -4.00977150e-03 -9.55769656e-02] [ 5.25589842e-03 4.02435151e-03 9.99978090e-01 -8.25624830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297193469999996 meters Centerline goodness : 0.876292 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.09, Z:-0.83 [[ 9.99994927e-01 2.92792046e-03 -1.25459266e-03 5.24800693e+00] [-2.94528670e-03 9.99896655e-01 -1.40714084e-02 -9.18456937e-02] [ 1.21326304e-03 1.40750322e-02 9.99900206e-01 -8.28388378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32719347 meters Centerline goodness : 0.865746 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-0.83 [[ 9.99991740e-01 3.31332224e-03 2.35419559e-03 5.25757982e+00] [-3.25396288e-03 9.99687487e-01 -2.47858711e-02 -8.83144308e-02] [-2.43558345e-03 2.47780059e-02 9.99690011e-01 -8.29846122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35719347 meters Centerline goodness : 0.865746 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-0.83 [[ 9.99991662e-01 3.27362803e-03 2.44118555e-03 5.25749941e+00] [-3.21198248e-03 9.99686218e-01 -2.48424877e-02 -8.83777627e-02] [-2.52174462e-03 2.48344395e-02 9.99688397e-01 -8.29757103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38719346999999 meters Centerline goodness : 0.878923 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-0.83 [[ 9.99972335e-01 3.26218097e-03 6.68490304e-03 5.26840023e+00] [-3.02203840e-03 9.99360707e-01 -3.56236560e-02 -8.54134237e-02] [-6.79684024e-03 3.56024684e-02 9.99342918e-01 -8.32728405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417193469999994 meters Centerline goodness : 0.873426 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-0.83 [[ 9.99976555e-01 2.70658433e-03 6.28994277e-03 5.26881730e+00] [-2.48001634e-03 9.99357563e-01 -3.57534773e-02 -8.66607817e-02] [-6.38267167e-03 3.57370399e-02 9.99340845e-01 -8.32239256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447193469999995 meters Centerline goodness : 0.872448 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-0.83 [[ 9.99997609e-01 3.18429557e-04 2.16365086e-03 5.27605507e+00] [-2.45309854e-04 9.99431586e-01 -3.37112104e-02 -8.72648085e-02] [-2.17315566e-03 3.37105990e-02 9.99429274e-01 -8.30176720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477193469999996 meters Centerline goodness : 0.875340 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-0.83 [[ 9.99992628e-01 -2.86922586e-03 -2.55161252e-03 5.28473208e+00] [ 2.78824534e-03 9.99509476e-01 -3.11934701e-02 -8.75672441e-02] [ 2.63986200e-03 3.11861256e-02 9.99510108e-01 -8.27726848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50719347 meters Centerline goodness : 0.875280 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99981251e-01 -5.55176123e-03 2.58382026e-03 5.29503326e+00] [ 5.61057508e-03 9.99711822e-01 -2.33408464e-02 -8.94169017e-02] [-2.45349286e-03 2.33549055e-02 9.99724226e-01 -8.30669197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53719347 meters Centerline goodness : 0.883116 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99918930e-01 -1.15909246e-02 5.27110130e-03 5.30095094e+00] [ 1.16804820e-02 9.99782299e-01 -1.72893264e-02 -8.91372085e-02] [-5.06955450e-03 1.73494937e-02 9.99836634e-01 -8.29171615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56719346999999 meters Centerline goodness : 0.883991 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99911403e-01 -1.22858878e-02 5.12274965e-03 5.30136015e+00] [ 1.23761337e-02 9.99761859e-01 -1.79737794e-02 -8.73809551e-02] [-4.90070588e-03 1.80355869e-02 9.99825335e-01 -8.29198690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59719346999999 meters Centerline goodness : 0.885382 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-0.83 [[ 9.99937861e-01 -9.99745344e-03 4.93212486e-03 5.30178783e+00] [ 1.00698146e-02 9.99838706e-01 -1.48714776e-02 -8.72512464e-02] [-4.78265244e-03 1.49202191e-02 9.99877249e-01 -8.29334901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627193469999995 meters Centerline goodness : 0.887830 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.83 [[ 9.99923127e-01 -1.15613594e-02 4.48041611e-03 5.30307325e+00] [ 1.16358533e-02 9.99788233e-01 -1.69733665e-02 -8.29892432e-02] [-4.28323212e-03 1.70241952e-02 9.99845903e-01 -8.29686852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657193469999996 meters Centerline goodness : 0.890408 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.83 [[ 9.99952227e-01 -8.81734320e-03 4.21879556e-03 5.30381387e+00] [ 8.87520892e-03 9.99864002e-01 -1.38999070e-02 -8.24459844e-02] [-4.09566157e-03 1.39366857e-02 9.99894492e-01 -8.30004618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68719347 meters Centerline goodness : 0.890800 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.08, Z:-0.83 [[ 9.99975223e-01 -5.87334730e-03 3.88028766e-03 5.30488171e+00] [ 5.91541906e-03 9.99922862e-01 -1.09214204e-02 -8.11763714e-02] [-3.81584305e-03 1.09441033e-02 9.99932831e-01 -8.30512229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71719347 meters Centerline goodness : 0.889201 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:-0.83 [[ 9.99990005e-01 -2.73264536e-03 3.53876062e-03 5.30559495e+00] [ 2.76035382e-03 9.99965387e-01 -7.84892173e-03 -7.96607376e-02] [-3.51718981e-03 7.85861151e-03 9.99962935e-01 -8.30478883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74719346999999 meters Centerline goodness : 0.894493 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.07, Z:-0.83 [[ 9.99991741e-01 9.17414890e-04 3.95930416e-03 5.30240737e+00] [-8.97653418e-04 9.99987147e-01 -4.99004191e-03 -7.28107257e-02] [-3.96383121e-03 4.98644662e-03 9.99979711e-01 -8.26985980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77719346999999 meters Centerline goodness : 0.895408 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.07, Z:-0.83 [[ 9.99985979e-01 3.25922626e-03 4.17359774e-03 5.30117173e+00] [-3.24707681e-03 9.99990481e-01 -2.91450119e-03 -6.88669888e-02] [-4.18305703e-03 2.90090834e-03 9.99987043e-01 -8.25603474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807193469999994 meters Centerline goodness : 0.900571 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99976520e-01 5.17409005e-03 4.49304939e-03 5.29938291e+00] [-5.16896630e-03 9.99985978e-01 -1.15123588e-03 -6.48582766e-02] [-4.49894299e-03 1.12798442e-03 9.99989244e-01 -8.23563252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837193469999995 meters Centerline goodness : 0.897426 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99964837e-01 7.19975993e-03 4.29990736e-03 5.29821683e+00] [-7.20199067e-03 9.99973939e-01 5.03528707e-04 -6.00065339e-02] [-4.29617001e-03 -5.34478894e-04 9.99990629e-01 -8.21256653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86719347 meters Centerline goodness : 0.900559 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99965028e-01 7.29627113e-03 4.08738412e-03 5.29891906e+00] [-7.29725561e-03 9.99973349e-01 2.25996043e-04 -5.88956073e-02] [-4.08562626e-03 -2.55814826e-04 9.99991621e-01 -8.21514580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89719347 meters Centerline goodness : 0.901590 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99936827e-01 1.05120845e-02 3.97967346e-03 5.29975717e+00] [-1.05276884e-02 9.99936897e-01 3.92045633e-03 -5.99994367e-02] [-3.93821016e-03 -3.96210542e-03 9.99984396e-01 -8.22147306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92719346999999 meters Centerline goodness : 0.905351 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:-0.82 [[ 9.99893634e-01 1.40661972e-02 3.85531855e-03 5.30075239e+00] [-1.40948259e-02 9.99872520e-01 7.50200518e-03 -5.95524023e-02] [-3.74930238e-03 -7.55554726e-03 9.99964428e-01 -8.22957391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95719346999999 meters Centerline goodness : 0.899234 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.05, Z:-0.83 [[ 9.99733829e-01 2.28495691e-02 3.18890498e-03 5.30467169e+00] [-2.28965539e-02 9.99616588e-01 1.55699734e-02 -5.33599831e-02] [-2.83191513e-03 -1.56388441e-02 9.99873695e-01 -8.26014915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987193469999994 meters Centerline goodness : 0.899142 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.05, Z:-0.83 [[ 9.99649844e-01 2.63440287e-02 2.48625125e-03 5.30708356e+00] [-2.63851366e-02 9.99484742e-01 1.82777229e-02 -4.88861075e-02] [-2.00346133e-03 -1.83369229e-02 9.99829857e-01 -8.27098503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017193469999995 meters Centerline goodness : 0.898610 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.05, Z:-0.83 [[ 9.99567566e-01 2.93467986e-02 1.85657095e-03 5.30969047e+00] [-2.93790139e-02 9.99353346e-01 2.07307418e-02 -4.59000807e-02] [-1.24698949e-03 -2.07763213e-02 9.99783371e-01 -8.28570570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047193469999996 meters Centerline goodness : 0.899302 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99541440e-01 3.02289291e-02 1.76656674e-03 5.30934667e+00] [-3.02582060e-02 9.99342677e-01 1.99663479e-02 -4.45712977e-02] [-1.16184422e-03 -2.00106453e-02 9.99799092e-01 -8.27413613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07719347 meters Centerline goodness : 0.901732 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99549418e-01 2.99669383e-02 1.71562272e-03 5.30958037e+00] [-2.99946771e-02 9.99360637e-01 1.94585647e-02 -4.40242244e-02] [-1.13141221e-03 -1.95012565e-02 9.99809192e-01 -8.27201849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10719347 meters Centerline goodness : 0.906346 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99563372e-01 2.95150724e-02 1.38793234e-03 5.31057412e+00] [-2.95357411e-02 9.99391940e-01 1.85308113e-02 -4.15378730e-02] [-8.40150156e-04 -1.85637138e-02 9.99827326e-01 -8.27456411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13719346999999 meters Centerline goodness : 0.905841 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.04, Z:-0.83 [[ 9.99575103e-01 2.91307198e-02 1.00738029e-03 5.31151652e+00] [-2.91439071e-02 9.99421609e-01 1.75236820e-02 -3.75550585e-02] [-4.96320157e-04 -1.75455953e-02 9.99845941e-01 -8.27459867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167193469999994 meters Centerline goodness : 0.907914 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.83 [[ 9.99506546e-01 3.14086313e-02 4.01995202e-04 5.31287300e+00] [-3.14104474e-02 9.99311818e-01 1.97300521e-02 -3.36599245e-02] [ 2.17975376e-04 -1.97329431e-02 9.99805263e-01 -8.27385930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197193469999995 meters Centerline goodness : 0.908769 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.83 [[ 9.99508844e-01 3.13379796e-02 3.45769072e-05 5.31393148e+00] [-3.13326786e-02 9.99318226e-01 1.95280910e-02 -3.27479792e-02] [ 5.77417583e-04 -1.95195830e-02 9.99809308e-01 -8.27609440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227193469999996 meters Centerline goodness : 0.908794 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99558585e-01 2.97031670e-02 -5.97600568e-04 5.31613652e+00] [-2.96878572e-02 9.99401086e-01 1.77792024e-02 -3.13842953e-02] [ 1.12534128e-03 -1.77536130e-02 9.99841759e-01 -8.28791259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25719347 meters Centerline goodness : 0.908771 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99592412e-01 2.85198401e-02 -1.27582237e-03 5.31808452e+00] [-2.84940481e-02 9.99449262e-01 1.70077095e-02 -3.09970037e-02] [ 1.76017689e-03 -1.69644240e-02 9.99854544e-01 -8.29207654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28719347 meters Centerline goodness : 0.911686 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99730420e-01 2.31780958e-02 -1.36469226e-03 5.31679746e+00] [-2.31598145e-02 9.99657828e-01 1.21593748e-02 -3.14821190e-02] [ 1.64605646e-03 -1.21244909e-02 9.99925141e-01 -8.27407770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31719346999999 meters Centerline goodness : 0.913040 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99826848e-01 1.78570473e-02 -5.23448656e-03 5.31589717e+00] [-1.77198440e-02 9.99525872e-01 2.51801052e-02 -3.40014719e-02] [ 5.68164707e-03 -2.50829909e-02 9.99669227e-01 -8.25150745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34719346999999 meters Centerline goodness : 0.913246 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 0.99984567 0.01661726 -0.00570135 5.31652915] [-0.0164707 0.99955538 0.02485486 -0.03452552] [ 0.00611184 -0.02475712 0.99967481 -0.82461943] [ 0. 0. 0. 1. ]] SLAMing on 53.377193469999995 meters Centerline goodness : 0.913117 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 0.99991494 0.01145223 -0.00624126 5.31715823] [-0.01132512 0.99973514 0.02003488 -0.0323025 ] [ 0.00646905 -0.0199625 0.9997798 -0.82423691] [ 0. 0. 0. 1. ]] SLAMing on 53.407193469999996 meters Centerline goodness : 0.913430 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 0.99994042 0.00906666 -0.0060791 5.31571285] [-0.00895755 0.99980249 0.01774127 -0.03209226] [ 0.00623876 -0.01768576 0.99982413 -0.82258599] [ 0. 0. 0. 1. ]] SLAMing on 53.43719347 meters Centerline goodness : 0.916250 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.99996152 0.00665026 -0.00572166 5.31369226] [-0.00656379 0.99986593 0.01500112 -0.03217478] [ 0.00582066 -0.01496299 0.99987111 -0.82069688] [ 0. 0. 0. 1. ]] SLAMing on 53.46719347 meters Centerline goodness : 0.918626 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.99996347 0.00630535 -0.00577123 5.31306757] [-0.00622012 0.99987307 0.01466829 -0.03212196] [ 0.00586298 -0.01463185 0.99987576 -0.81943105] [ 0. 0. 0. 1. ]] SLAMing on 53.49719346999999 meters Centerline goodness : 0.921063 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.99995595 0.00736617 -0.00581644 5.3118967 ] [-0.00727673 0.99985722 0.01525084 -0.02931534] [ 0.00592795 -0.01520785 0.99986678 -0.81758061] [ 0. 0. 0. 1. ]] SLAMing on 53.52719346999999 meters Centerline goodness : 0.917994 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.03, Z:-0.82 [[ 0.9999531 0.0073303 -0.00632945 5.31350862] [-0.00723719 0.99986706 0.01461094 -0.02636198] [ 0.00643571 -0.01456445 0.99987322 -0.81825902] [ 0. 0. 0. 1. ]] SLAMing on 53.557193469999994 meters Centerline goodness : 0.914726 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99994974 0.00722956 -0.00694676 5.31542342] [-0.00713244 0.99987787 0.01390582 -0.02347372] [ 0.00704644 -0.01385557 0.99987918 -0.81913076] [ 0. 0. 0. 1. ]] SLAMing on 53.587193469999995 meters Centerline goodness : 0.912946 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99994701 0.00719664 -0.00736063 5.31691973] [-0.00709819 0.99988615 0.0133154 -0.02146449] [ 0.00745562 -0.01326245 0.99988425 -0.81989055] [ 0. 0. 0. 1. ]] SLAMing on 53.61719347 meters Centerline goodness : 0.910616 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99991812 0.00999052 -0.00799584 5.31996212] [-0.00986887 0.99983711 0.01511123 -0.01890025] [ 0.00814551 -0.01503109 0.99985385 -0.82207174] [ 0. 0. 0. 1. ]] SLAMing on 53.64719347 meters Centerline goodness : 0.907950 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.02, Z:-0.82 [[ 0.99987442 0.0134551 -0.00837232 5.32133204] [-0.01330242 0.99974891 0.01803246 -0.01667304] [ 0.00861284 -0.01791882 0.99980235 -0.8226328 ] [ 0. 0. 0. 1. ]] SLAMing on 53.67719346999999 meters Centerline goodness : 0.908509 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.01, Z:-0.82 [[ 0.99981346 0.01717421 -0.00883668 5.32268236] [-0.01698505 0.99963406 0.02105361 -0.01379097] [ 0.00919502 -0.02089959 0.9997393 -0.8229035 ] [ 0. 0. 0. 1. ]] SLAMing on 53.70719346999999 meters Centerline goodness : 0.904044 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.01, Z:-0.82 [[ 0.99973473 0.02100015 -0.00945891 5.3242926 ] [-0.02076542 0.99948988 0.02426491 -0.01125605] [ 0.00996365 -0.02406205 0.99966081 -0.82302104] [ 0. 0. 0. 1. ]] SLAMing on 53.737193469999994 meters Centerline goodness : 0.906862 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.01, Z:-0.82 [[ 9.99623555e-01 2.70564430e-02 -4.54946878e-03 5.33240334e+00] [-2.69645411e-02 9.99452459e-01 1.91754175e-02 -5.87160960e-03] [ 5.06579635e-03 -1.90455247e-02 9.99805784e-01 -8.23070031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767193469999995 meters Centerline goodness : 0.910149 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.00, Z:-0.82 [[ 9.99614990e-01 2.73809853e-02 -4.48926990e-03 5.33122022e+00] [-2.72919516e-02 9.99450317e-01 1.88205407e-02 -4.16538734e-03] [ 5.00212717e-03 -1.86907736e-02 9.99812799e-01 -8.21265333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797193469999996 meters Centerline goodness : 0.913733 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.00, Z:-0.82 [[ 9.99667643e-01 2.57612381e-02 9.81273970e-04 5.34450199e+00] [-2.57741945e-02 9.99523523e-01 1.69828792e-02 -2.14096386e-03] [-5.43306420e-04 -1.70025264e-02 9.99855299e-01 -8.18340625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82719347 meters Centerline goodness : 0.918968 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.00, Z:-0.81 [[ 9.99669736e-01 2.45017757e-02 7.75122881e-03 5.35362467e+00] [-2.46234647e-02 9.99568524e-01 1.60140542e-02 -3.25969135e-03] [-7.35551157e-03 -1.61996275e-02 9.99841722e-01 -8.12998936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85719347 meters Centerline goodness : 0.919952 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.82 [[ 0.99969298 0.02040202 0.0140606 5.36509099] [-0.02067782 0.99959095 0.01975765 -0.00617898] [-0.01365176 -0.02004233 0.99970592 -0.81677632] [ 0. 0. 0. 1. ]] SLAMing on 53.88719346999999 meters Centerline goodness : 0.921010 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.82 [[ 0.99975229 0.01768965 0.01350672 5.36687078] [-0.01791858 0.99969456 0.01702083 -0.0078295 ] [-0.0132015 -0.01725864 0.9997639 -0.8175493 ] [ 0. 0. 0. 1. ]] SLAMing on 53.917193469999994 meters Centerline goodness : 0.919920 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.01, Z:-0.82 [[ 0.99978145 0.01751466 0.01141433 5.38960949] [-0.01775444 0.99961641 0.02125577 -0.01271458] [-0.01103766 -0.02145378 0.99970891 -0.82040031] [ 0. 0. 0. 1. ]] SLAMing on 53.947193469999995 meters Centerline goodness : 0.913954 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.01, Z:-0.82 [[ 0.99983793 0.01457399 0.01056929 5.3920613 ] [-0.01476666 0.99972189 0.01838711 -0.01399195] [-0.01029837 -0.0185402 0.99977508 -0.8214697 ] [ 0. 0. 0. 1. ]] SLAMing on 53.977193469999996 meters Centerline goodness : 0.915384 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.02, Z:-0.82 [[ 0.99984994 0.01423167 0.00987754 5.39411347] [-0.01442536 0.99969945 0.01982228 -0.01903291] [-0.00959246 -0.01996179 0.99975473 -0.82163703] [ 0. 0. 0. 1. ]] SLAMing on 54.00719347 meters Centerline goodness : 0.911473 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.02, Z:-0.82 [[ 0.9998822 0.01192658 0.0096615 5.3945665 ] [-0.01210873 0.99974579 0.01901913 -0.02488398] [-0.00943221 -0.01913388 0.99977244 -0.82061201] [ 0. 0. 0. 1. ]] SLAMing on 54.03719347 meters Centerline goodness : 0.912803 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.03, Z:-0.82 [[ 9.99941989e-01 5.33897909e-03 9.35489525e-03 5.39522461e+00] [-5.47768227e-03 9.99874514e-01 1.48644507e-02 -3.45597607e-02] [-9.27436035e-03 -1.49148315e-02 9.99845755e-01 -8.19765105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06719346999999 meters Centerline goodness : 0.910152 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.04, Z:-0.82 [[ 9.99978672e-01 3.53480034e-03 5.49192471e-03 5.40412147e+00] [-3.66209526e-03 9.99720783e-01 2.33440530e-02 -3.95493360e-02] [-5.40787471e-03 -2.33636670e-02 9.99712406e-01 -8.16105101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09719346999999 meters Centerline goodness : 0.910538 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.04, Z:-0.82 [[ 9.99979905e-01 4.16524087e-03 4.77923372e-03 5.40641817e+00] [-4.28391187e-03 9.99675892e-01 2.50950069e-02 -4.26702407e-02] [-4.67315798e-03 -2.51149764e-02 9.99673647e-01 -8.17175445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127193469999995 meters Centerline goodness : 0.905577 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.05, Z:-0.82 [[ 9.99989406e-01 1.49152342e-03 4.35459593e-03 5.40739589e+00] [-1.59205251e-03 9.99730172e-01 2.31742910e-02 -4.66891974e-02] [-4.31885594e-03 -2.31809782e-02 9.99721956e-01 -8.16845184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157193469999996 meters Centerline goodness : 0.904230 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.82 [[ 9.99989223e-01 1.99576418e-03 4.19182587e-03 5.41628859e+00] [-2.04974449e-03 9.99914524e-01 1.29129452e-02 -4.81245010e-02] [-4.16569637e-03 -1.29213982e-02 9.99907838e-01 -8.15176260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18719347 meters Centerline goodness : 0.905558 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989104e-01 4.66793582e-03 -3.71342552e-05 5.41728478e+00] [-4.66801690e-03 9.99985692e-01 -2.61260253e-03 -4.86095025e-02] [ 2.49382630e-05 2.61274741e-03 9.99996586e-01 -8.13589290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21719347 meters Centerline goodness : 0.906807 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989383e-01 4.58180012e-03 -4.91632815e-04 5.41873451e+00] [-4.58289590e-03 9.99986964e-01 -2.25136973e-03 -5.05091183e-02] [ 4.81311080e-04 2.25359893e-03 9.99997345e-01 -8.14211035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24719346999999 meters Centerline goodness : 0.905770 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989450e-01 4.50042021e-03 -9.20028466e-04 5.41922625e+00] [-4.50114676e-03 9.99989558e-01 -7.89166084e-04 -5.42178883e-02] [ 9.16467280e-04 7.93298941e-04 9.99999265e-01 -8.13299913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27719346999999 meters Centerline goodness : 0.905770 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.05, Z:-0.81 [[ 9.99989450e-01 4.50042021e-03 -9.20028466e-04 5.41922625e+00] [-4.50114676e-03 9.99989558e-01 -7.89166084e-04 -5.42178883e-02] [ 9.16467280e-04 7.93298941e-04 9.99999265e-01 -8.13299913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307193469999994 meters Centerline goodness : 0.904492 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-0.81 [[ 9.99990944e-01 3.93087698e-03 -1.63109890e-03 5.42050021e+00] [-3.93098776e-03 9.99992272e-01 -6.47189187e-05 -5.66284327e-02] [ 1.63083189e-03 7.11301624e-05 9.99998668e-01 -8.12764319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337193469999995 meters Centerline goodness : 0.906009 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-0.81 [[ 9.99998019e-01 -1.93475109e-04 -1.98085346e-03 5.42085251e+00] [ 1.86006093e-04 9.99992876e-01 -3.77009513e-03 -5.77936753e-02] [ 1.98156877e-03 3.76971921e-03 9.99990931e-01 -8.12089235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36719347 meters Centerline goodness : 0.904522 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:-0.81 [[ 9.99969172e-01 -7.48092184e-03 -2.38556858e-03 5.42146309e+00] [ 7.45683175e-03 9.99922672e-01 -9.95212960e-03 -6.26126857e-02] [ 2.45983521e-03 9.93403401e-03 9.99947631e-01 -8.11555018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39719347 meters Centerline goodness : 0.905282 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.07, Z:-0.81 [[ 9.99934632e-01 -1.10739496e-02 -2.84577617e-03 5.42332044e+00] [ 1.10367051e-02 9.99857344e-01 -1.27860400e-02 -6.61647538e-02] [ 2.98696217e-03 1.27537963e-02 9.99914206e-01 -8.12658774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42719346999999 meters Centerline goodness : 0.902281 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.07, Z:-0.82 [[ 9.99880560e-01 -1.50254360e-02 -3.61972255e-03 5.42715165e+00] [ 1.49657803e-02 9.99760310e-01 -1.59796143e-02 -6.95607391e-02] [ 3.85895561e-03 1.59235337e-02 9.99865766e-01 -8.15404110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45719346999999 meters Centerline goodness : 0.902984 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.08, Z:-0.82 [[ 9.99831065e-01 -1.79291794e-02 -4.04802770e-03 5.42921470e+00] [ 1.78562333e-02 9.99689334e-01 -1.73893892e-02 -7.57919182e-02] [ 4.35854759e-03 1.73141690e-02 9.99840599e-01 -8.16804884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487193469999994 meters Centerline goodness : 0.903607 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-0.82 [[ 9.99837125e-01 -1.79841468e-02 -1.51462629e-03 5.44717025e+00] [ 1.79569385e-02 9.99704483e-01 -1.63858167e-02 -7.78184202e-02] [ 1.80886363e-03 1.63559498e-02 9.99864596e-01 -8.16851034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517193469999995 meters Centerline goodness : 0.906612 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.08, Z:-0.82 [[ 9.99840376e-01 -1.77766843e-02 -1.79233436e-03 5.44738999e+00] [ 1.77461026e-02 9.99717092e-01 -1.58370320e-02 -7.89840617e-02] [ 2.07335721e-03 1.58026971e-02 9.99872980e-01 -8.16104190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547193469999996 meters Centerline goodness : 0.909390 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.08, Z:-0.82 [[ 9.99884951e-01 -1.42578296e-02 5.17682322e-03 5.45883382e+00] [ 1.43502068e-02 9.99730126e-01 -1.82687238e-02 -8.00882787e-02] [-4.91495377e-03 1.83409105e-02 9.99819711e-01 -8.18758610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57719347 meters Centerline goodness : 0.912019 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.08, Z:-0.82 [[ 9.99974206e-01 -4.73068196e-03 5.40446718e-03 5.47563693e+00] [ 4.86779263e-03 9.99659264e-01 -2.56449001e-02 -8.34188001e-02] [-5.28130782e-03 2.56705464e-02 9.99656506e-01 -8.16471662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60719347 meters Centerline goodness : 0.912659 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.08, Z:-0.81 [[ 9.99997521e-01 -1.60107444e-03 1.54746446e-03 5.48486800e+00] [ 1.64692664e-03 9.99545594e-01 -3.00980437e-02 -8.43172572e-02] [-1.49857208e-03 3.01005176e-02 9.99545753e-01 -8.14251058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63719346999999 meters Centerline goodness : 0.911146 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.82 [[ 9.99996424e-01 2.43097655e-03 1.11488292e-03 5.48637030e+00] [-2.40174346e-03 9.99671619e-01 -2.55124507e-02 -8.67123717e-02] [-1.17653698e-03 2.55096817e-02 9.99673883e-01 -8.15085460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667193469999994 meters Centerline goodness : 0.910281 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.81 [[ 9.99980061e-01 4.94060296e-03 -3.93294935e-03 5.48710996e+00] [-5.09479407e-03 9.99178202e-01 -4.02114766e-02 -8.51652389e-02] [ 3.73104832e-03 4.02307124e-02 9.99183451e-01 -8.13813608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697193469999995 meters Centerline goodness : 0.909016 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.81 [[ 9.99979297e-01 4.91669693e-03 -4.15108032e-03 5.48782460e+00] [-5.07813972e-03 9.99193918e-01 -3.98211803e-02 -8.60960148e-02] [ 3.95194553e-03 3.98414356e-02 9.99198200e-01 -8.14075943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727193469999996 meters Centerline goodness : 0.909943 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-0.81 [[ 9.99982010e-01 4.14608483e-03 -4.33463217e-03 5.48820822e+00] [-4.31575621e-03 9.99194528e-01 -3.98957261e-02 -8.72474652e-02] [ 4.16572968e-03 3.99137156e-02 9.99194447e-01 -8.13805202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75719347 meters Centerline goodness : 0.912565 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.09, Z:-0.81 [[ 9.99994997e-01 6.12490428e-04 -3.10328147e-03 5.49792734e+00] [-7.12395703e-04 9.99478117e-01 -3.22952851e-02 -8.93451879e-02] [ 3.08188137e-03 3.22973343e-02 9.99473554e-01 -8.13994165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78719347 meters Centerline goodness : 0.913121 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.09, Z:-0.81 [[ 9.99981248e-01 -4.90392779e-03 -3.66799689e-03 5.49883865e+00] [ 4.76696430e-03 9.99323730e-01 -3.64603634e-02 -9.20649129e-02] [ 3.84431533e-03 3.64421945e-02 9.99328368e-01 -8.13467725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81719346999999 meters Centerline goodness : 0.915193 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.10, Z:-0.81 [[ 9.99976937e-01 -5.62995563e-03 -3.79848553e-03 5.49876836e+00] [ 5.48994808e-03 9.99339818e-01 -3.59136212e-02 -9.53627633e-02] [ 3.99816993e-03 3.58919394e-02 9.99347679e-01 -8.12801702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84719346999999 meters Centerline goodness : 0.918488 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 9.99955039e-01 -9.47417567e-03 3.99630481e-04 5.50606967e+00] [ 9.48175758e-03 9.99539707e-01 -2.88178676e-02 -9.79130056e-02] [-1.26420994e-04 2.88203611e-02 9.99584599e-01 -8.12575181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877193469999995 meters Centerline goodness : 0.924614 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 0.99989111 -0.0123939 0.00800945 5.51234034] [ 0.01256729 0.99967956 -0.02197362 -0.09943891] [-0.00773454 0.02207189 0.99972647 -0.813334 ] [ 0. 0. 0. 1. ]] SLAMing on 54.907193469999996 meters Centerline goodness : 0.926002 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 0.99992566 -0.00935565 0.00781941 5.51264626] [ 0.00949531 0.99979255 -0.01801946 -0.10031288] [-0.00764921 0.01809237 0.99980706 -0.81304563] [ 0. 0. 0. 1. ]] SLAMing on 54.93719347 meters Centerline goodness : 0.926460 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.10, Z:-0.81 [[ 0.99992687 -0.00938927 0.00762243 5.51343338] [ 0.00952472 0.99979383 -0.01793258 -0.09947631] [-0.00745248 0.01800387 0.99981014 -0.81348972] [ 0. 0. 0. 1. ]] SLAMing on 54.96719347 meters Centerline goodness : 0.923514 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.10, Z:-0.82 [[ 0.99994271 -0.00825777 0.00681037 5.51698244] [ 0.00836899 0.99982936 -0.0164684 -0.09976686] [-0.00667322 0.01652445 0.99984119 -0.81613778] [ 0. 0. 0. 1. ]] SLAMing on 54.99719346999999 meters Centerline goodness : 0.923747 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.10, Z:-0.82 [[ 0.99995332 -0.00747517 0.00612163 5.52014832] [ 0.0075686 0.99985301 -0.01538448 -0.10063199] [-0.00600573 0.0154301 0.99986291 -0.8186378 ] [ 0. 0. 0. 1. ]] SLAMing on 55.02719346999999 meters Centerline goodness : 0.920425 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.10, Z:-0.82 [[ 9.99972238e-01 -6.51462898e-03 3.61701225e-03 5.54180336e+00] [ 6.56438406e-03 9.99881582e-01 -1.39187520e-02 -1.01428760e-01] [-3.52590842e-03 1.39421091e-02 9.99896587e-01 -8.20014584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057193469999994 meters Centerline goodness : 0.920033 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.10, Z:-0.82 [[ 9.99972245e-01 -6.68948741e-03 3.28023183e-03 5.54303794e+00] [ 6.73547229e-03 9.99876289e-01 -1.42140871e-02 -1.00710133e-01] [-3.18474107e-03 1.42357865e-02 9.99893594e-01 -8.20731635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087193469999995 meters Centerline goodness : 0.919343 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.10, Z:-0.82 [[ 9.99961678e-01 -4.32502416e-03 7.61158043e-03 5.55437203e+00] [ 4.49078856e-03 9.99750140e-01 -2.18972868e-02 -9.85926364e-02] [-7.51497230e-03 2.19306296e-02 9.99731250e-01 -8.24236065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11719347 meters Centerline goodness : 0.919608 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.09, Z:-0.82 [[ 9.99983787e-01 1.95976748e-03 5.34651694e-03 5.58071076e+00] [-1.81143638e-03 9.99617167e-01 -2.76086670e-02 -9.29163825e-02] [-5.39857668e-03 2.75985345e-02 9.99604510e-01 -8.23027946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14719347 meters Centerline goodness : 0.920140 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99978787e-01 5.98553554e-03 2.56867944e-03 5.60726782e+00] [-5.89686870e-03 9.99430035e-01 -3.32390167e-02 -8.96550897e-02] [-2.76616870e-03 3.32231645e-02 9.99444130e-01 -8.21228544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17719346999999 meters Centerline goodness : 0.916482 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99916352e-01 1.27309852e-02 2.28294043e-03 5.60802235e+00] [-1.26673905e-02 9.99581957e-01 -2.59893952e-02 -8.99041194e-02] [-2.61285667e-03 2.59583023e-02 9.99659612e-01 -8.21217736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20719346999999 meters Centerline goodness : 0.917251 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99852052e-01 1.70591435e-02 2.20469096e-03 5.60864593e+00] [-1.70066756e-02 9.99614299e-01 -2.19551027e-02 -8.95702486e-02] [-2.57837585e-03 2.19143600e-02 9.99756527e-01 -8.21612507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237193469999994 meters Centerline goodness : 0.913020 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.82 [[ 9.99684778e-01 2.50169696e-02 2.12047613e-03 5.61108650e+00] [-2.49817656e-02 9.99571437e-01 -1.52595360e-02 -8.72364221e-02] [-2.50131472e-03 1.52017526e-02 9.99881318e-01 -8.24385818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267193469999995 meters Centerline goodness : 0.911929 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.09, Z:-0.83 [[ 9.99573648e-01 2.91284760e-02 2.01367638e-03 5.61223399e+00] [-2.91029602e-02 9.99507788e-01 -1.17132011e-02 -8.56724520e-02] [-2.35387292e-03 1.16496032e-02 9.99929371e-01 -8.25395610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297193469999996 meters Centerline goodness : 0.912027 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.83 [[ 9.99536057e-01 3.04080921e-02 1.73731799e-03 5.61317750e+00] [-3.03858042e-02 9.99470128e-01 -1.16690355e-02 -8.32559497e-02] [-2.09123054e-03 1.16108320e-02 9.99930405e-01 -8.26029454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32719347 meters Centerline goodness : 0.910740 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.83 [[ 9.99355766e-01 3.58177962e-02 2.26665142e-03 5.61206718e+00] [-3.58016319e-02 9.99335714e-01 -6.80988826e-03 -8.39857399e-02] [-2.50906091e-03 6.72435128e-03 9.99974244e-01 -8.25224129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35719347 meters Centerline goodness : 0.916859 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.08, Z:-0.82 [[ 9.99342387e-01 3.61878350e-02 2.28771664e-03 5.61145168e+00] [-3.61725073e-02 9.99324941e-01 -6.41961929e-03 -8.49173348e-02] [-2.51848442e-03 6.33264522e-03 9.99976777e-01 -8.24202666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38719346999999 meters Centerline goodness : 0.916425 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-0.83 [[ 9.99368747e-01 3.46909499e-02 7.65804022e-03 5.62117881e+00] [-3.47038907e-02 9.99396416e-01 1.56343807e-03 -8.79568162e-02] [-7.59918079e-03 -1.82821494e-03 9.99969455e-01 -8.26652889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417193469999994 meters Centerline goodness : 0.917605 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.09, Z:-0.83 [[ 9.99435163e-01 3.26648672e-02 7.89698092e-03 5.61946854e+00] [-3.26618415e-02 9.99466329e-01 -5.11850131e-04 -8.99811539e-02] [-7.90948605e-03 2.53631080e-04 9.99968687e-01 -8.25095631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447193469999995 meters Centerline goodness : 0.921251 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-0.83 [[ 9.99511835e-01 3.02685015e-02 7.74013884e-03 5.61980469e+00] [-3.02543902e-02 9.99540361e-01 -1.93379270e-03 -9.64615499e-02] [-7.79511417e-03 1.69867551e-03 9.99968175e-01 -8.25326600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477193469999996 meters Centerline goodness : 0.917663 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-0.83 [[ 9.99598629e-01 2.73494499e-02 7.38835085e-03 5.62061966e+00] [-2.73166348e-02 9.99616673e-01 -4.50647296e-03 -9.95424135e-02] [-7.50876826e-03 4.30283932e-03 9.99962551e-01 -8.25781813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50719347 meters Centerline goodness : 0.919238 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.10, Z:-0.83 [[ 0.99966838 0.02465474 0.00743412 5.62045408] [-0.02460515 0.99967486 -0.00669025 -0.10324801] [-0.00759665 0.00650511 0.99994999 -0.8257769 ] [ 0. 0. 0. 1. ]] SLAMing on 55.53719347 meters Centerline goodness : 0.920714 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.11, Z:-0.83 [[ 0.99971083 0.02294071 0.00720935 5.62037744] [-0.02289297 0.9997159 -0.00663616 -0.11396401] [-0.00735954 0.0064692 0.99995199 -0.82524312] [ 0. 0. 0. 1. ]] SLAMing on 55.56719346999999 meters Centerline goodness : 0.923402 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.12, Z:-0.83 [[ 9.99699344e-01 2.34673681e-02 7.10669798e-03 5.62055198e+00] [-2.34327326e-02 9.99713317e-01 -4.91832614e-03 -1.19982193e-01] [-7.22008079e-03 4.75031806e-03 9.99962652e-01 -8.25148835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59719346999999 meters Centerline goodness : 0.922308 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.13, Z:-0.83 [[ 9.99713728e-01 2.30505491e-02 6.41355775e-03 5.62271960e+00] [-2.30220172e-02 9.99724887e-01 -4.48750302e-03 -1.25290796e-01] [-6.51523271e-03 4.33856534e-03 9.99969364e-01 -8.26338431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627193469999995 meters Centerline goodness : 0.924557 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.13, Z:-0.83 [[ 9.99745544e-01 2.14655693e-02 6.93377592e-03 5.62191900e+00] [-2.14361363e-02 9.99761008e-01 -4.29166728e-03 -1.34295904e-01] [-7.02424188e-03 4.14194188e-03 9.99966752e-01 -8.26734998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657193469999996 meters Centerline goodness : 0.921177 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.14, Z:-0.83 [[ 0.99980403 0.01875813 0.0063273 5.62349565] [-0.01871577 0.99980247 -0.00668892 -0.13697783] [-0.00645152 0.00656919 0.99995761 -0.8275956 ] [ 0. 0. 0. 1. ]] SLAMing on 55.68719347 meters Centerline goodness : 0.921542 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.14, Z:-0.83 [[ 9.99822881e-01 1.80031783e-02 5.48570260e-03 5.62672553e+00] [-1.79682085e-02 9.99818339e-01 -6.35869667e-03 -1.41735083e-01] [-5.59918281e-03 6.25900217e-03 9.99964736e-01 -8.30018917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71719347 meters Centerline goodness : 0.918732 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.15, Z:-0.83 [[ 9.99857411e-01 1.61525467e-02 4.92477131e-03 5.62888709e+00] [-1.61170722e-02 9.99844476e-01 -7.15982046e-03 -1.46987412e-01] [-5.03965472e-03 7.07942666e-03 9.99962241e-01 -8.31816504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74719346999999 meters Centerline goodness : 0.919880 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.16, Z:-0.83 [[ 9.99924961e-01 1.16229247e-02 3.87049102e-03 5.63209640e+00] [-1.15872377e-02 9.99891289e-01 -9.11847027e-03 -1.58301507e-01] [-3.97605355e-03 9.07293772e-03 9.99950935e-01 -8.34652075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77719346999999 meters Centerline goodness : 0.916244 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.16, Z:-0.84 [[ 9.99954140e-01 8.90872458e-03 3.51472500e-03 5.63322971e+00] [-8.87087126e-03 9.99904019e-01 -1.06423899e-02 -1.64508133e-01] [-3.60919777e-03 1.06107232e-02 9.99937191e-01 -8.35226831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807193469999994 meters Centerline goodness : 0.916495 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.17, Z:-0.84 [[ 9.99977453e-01 5.91701520e-03 3.17536445e-03 5.63376542e+00] [-5.87764608e-03 9.99907475e-01 -1.22676233e-02 -1.70999485e-01] [-3.24765836e-03 1.22486831e-02 9.99919708e-01 -8.35070975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837193469999995 meters Centerline goodness : 0.917943 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.19, Z:-0.83 [[ 9.99999270e-01 -2.43491375e-04 1.18339978e-03 5.63830367e+00] [ 2.51714831e-04 9.99975790e-01 -6.95383590e-03 -1.86115958e-01] [-1.18167793e-03 6.95412871e-03 9.99975122e-01 -8.30908193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86719347 meters Centerline goodness : 0.921547 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.19, Z:-0.83 [[ 9.99991776e-01 -3.97707895e-03 7.94064430e-04 5.63921431e+00] [ 3.98423566e-03 9.99949517e-01 -9.22433722e-03 -1.91554657e-01] [-7.57338427e-04 9.22742510e-03 9.99957140e-01 -8.30887841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89719347 meters Centerline goodness : 0.922315 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-0.83 [[ 9.99959537e-01 -8.99464203e-03 1.42522519e-04 5.64151172e+00] [ 8.99574191e-03 9.99871151e-01 -1.32950083e-02 -1.95581084e-01] [-2.29203153e-05 1.32957524e-02 9.99911607e-01 -8.31953729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92719346999999 meters Centerline goodness : 0.923493 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-0.83 [[ 9.99920868e-01 -1.25799240e-02 5.82398326e-05 5.64168059e+00] [ 1.25792955e-02 9.99798484e-01 -1.56446051e-02 -2.00683789e-01] [ 1.38579846e-04 1.56440997e-02 9.99877614e-01 -8.31636398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95719346999999 meters Centerline goodness : 0.924356 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.21, Z:-0.83 [[ 0.99976989 -0.0201553 0.00734406 5.6501062 ] [ 0.02025503 0.99970004 -0.01376824 -0.21183458] [-0.00706436 0.01391382 0.99987824 -0.83385474] [ 0. 0. 0. 1. ]] SLAMing on 55.987193469999994 meters Centerline goodness : 0.925668 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.22, Z:-0.83 [[ 0.99976794 -0.02033963 0.00709664 5.65091343] [ 0.02042773 0.99971228 -0.01257203 -0.2166742 ] [-0.00683889 0.01271408 0.99989579 -0.83391576] [ 0. 0. 0. 1. ]] SLAMing on 56.017193469999995 meters Centerline goodness : 0.928530 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.22, Z:-0.83 [[ 9.99763654e-01 -2.11171772e-02 5.16724514e-03 5.67183896e+00] [ 2.11915345e-02 9.99666100e-01 -1.47854012e-02 -2.19602076e-01] [-4.85329386e-03 1.48914086e-02 9.99877338e-01 -8.34300182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047193469999996 meters Centerline goodness : 0.927859 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.22, Z:-0.83 [[ 9.99771990e-01 -2.08709231e-02 4.51363905e-03 5.67329771e+00] [ 2.09302486e-02 9.99689491e-01 -1.35220733e-02 -2.23540851e-01] [-4.23001937e-03 1.36134617e-02 9.99898385e-01 -8.34433105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07719347 meters Centerline goodness : 0.930062 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.22, Z:-0.83 [[ 9.99784079e-01 -2.03866534e-02 4.02231775e-03 5.67412334e+00] [ 2.04369712e-02 9.99708015e-01 -1.28924631e-02 -2.24495169e-01] [-3.75830912e-03 1.29718833e-02 9.99908799e-01 -8.34171795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10719347 meters Centerline goodness : 0.927598 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.22, Z:-0.84 [[ 0.99982788 -0.01606929 0.00927256 5.68602693] [ 0.01622841 0.9997178 -0.01734799 -0.22496809] [-0.00899117 0.01749549 0.99980651 -0.83779668] [ 0. 0. 0. 1. ]] SLAMing on 56.13719346999999 meters Centerline goodness : 0.932930 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.23, Z:-0.84 [[ 0.99986218 -0.0143173 0.00840421 5.68795008] [ 0.01444778 0.99977275 -0.01567498 -0.22588862] [-0.00817787 0.01579424 0.99984182 -0.83825896] [ 0. 0. 0. 1. ]] SLAMing on 56.167193469999994 meters Centerline goodness : 0.932930 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.23, Z:-0.84 [[ 0.99986218 -0.0143173 0.00840421 5.68795008] [ 0.01444778 0.99977275 -0.01567498 -0.22588862] [-0.00817787 0.01579424 0.99984182 -0.83825896] [ 0. 0. 0. 1. ]] SLAMing on 56.197193469999995 meters Centerline goodness : 0.931437 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.84 [[ 9.99958171e-01 -5.62812816e-03 7.20969166e-03 5.71762208e+00] [ 5.78403820e-03 9.99745840e-01 -2.17899122e-02 -2.25777136e-01] [-7.08522282e-03 2.18307019e-02 9.99736575e-01 -8.41286596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227193469999996 meters Centerline goodness : 0.930340 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.84 [[ 9.99976137e-01 -2.78408224e-03 6.32257657e-03 5.72114455e+00] [ 2.90294699e-03 9.99817744e-01 -1.88693467e-02 -2.25484163e-01] [-6.26889043e-03 1.88872505e-02 9.99801967e-01 -8.43633062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25719347 meters Centerline goodness : 0.924607 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.22, Z:-0.85 [[ 9.99993071e-01 4.48360232e-04 3.69558792e-03 5.74257855e+00] [-3.73416963e-04 9.99794778e-01 -2.02549213e-02 -2.24291485e-01] [-3.70391101e-03 2.02534009e-02 9.99788018e-01 -8.45737724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28719347 meters Centerline goodness : 0.920758 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.22, Z:-0.85 [[ 9.99973266e-01 3.55017039e-03 6.39243948e-03 5.76059540e+00] [-3.38300095e-03 9.99656876e-01 -2.59747055e-02 -2.19220696e-01] [-6.48246072e-03 2.59523855e-02 9.99642162e-01 -8.51771515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31719346999999 meters Centerline goodness : 0.923777 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.22, Z:-0.86 [[ 9.99924602e-01 5.18794584e-03 1.11298970e-02 5.77338185e+00] [-4.79945174e-03 9.99387892e-01 -3.46526466e-02 -2.15946008e-01] [-1.13028603e-02 3.45966165e-02 9.99337440e-01 -8.56496182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34719346999999 meters Centerline goodness : 0.926504 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-0.86 [[ 0.99989176 0.00755359 0.01262563 5.79222377] [-0.00709418 0.99932502 -0.03604419 -0.21562368] [-0.01288937 0.03595072 0.99927044 -0.85781174] [ 0. 0. 0. 1. ]] SLAMing on 56.377193469999995 meters Centerline goodness : 0.924461 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.86 [[ 0.99988715 0.00825337 0.01255285 5.81198614] [-0.00775771 0.99920772 -0.03903517 -0.21483353] [-0.01286507 0.03893338 0.99915899 -0.85899235] [ 0. 0. 0. 1. ]] SLAMing on 56.407193469999996 meters Centerline goodness : 0.922329 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.86 [[ 0.99990736 0.00686207 0.01175537 5.81484526] [-0.00638776 0.9991824 -0.0399216 -0.21500308] [-0.0120197 0.03984282 0.99913366 -0.8606693 ] [ 0. 0. 0. 1. ]] SLAMing on 56.43719347 meters Centerline goodness : 0.924067 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.86 [[ 9.99919804e-01 6.06845599e-03 1.11156860e-02 5.81667985e+00] [-5.61696404e-03 9.99175544e-01 -4.02079755e-02 -2.15034965e-01] [-1.13505219e-02 4.01423146e-02 9.99129501e-01 -8.61247086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46719347 meters Centerline goodness : 0.922309 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.22, Z:-0.86 [[ 9.99874639e-01 2.30190843e-03 1.56654828e-02 5.82837206e+00] [-1.75526131e-03 9.99392068e-01 -3.48197222e-02 -2.15185512e-01] [-1.57361111e-02 3.47878602e-02 9.99270824e-01 -8.64644309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49719346999999 meters Centerline goodness : 0.927166 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.87 [[ 9.99849155e-01 3.44099431e-03 1.70243104e-02 5.84844231e+00] [-2.85305280e-03 9.99402696e-01 -3.44399594e-02 -2.16559263e-01] [-1.71326494e-02 3.43861931e-02 9.99261759e-01 -8.65353523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52719346999999 meters Centerline goodness : 0.929469 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.86 [[ 9.99861230e-01 2.67606175e-03 1.64426402e-02 5.84949485e+00] [-2.10566818e-03 9.99398683e-01 -3.46098074e-02 -2.17056528e-01] [-1.65253710e-02 3.45703819e-02 9.99265631e-01 -8.64911668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557193469999994 meters Centerline goodness : 0.931805 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.86 [[ 9.99870941e-01 -1.15916972e-03 1.60236553e-02 5.85010833e+00] [ 1.76420597e-03 9.99283898e-01 -3.77965345e-02 -2.19910082e-01] [-1.59683682e-02 3.78199256e-02 9.99156977e-01 -8.64550440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587193469999995 meters Centerline goodness : 0.929019 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.87 [[ 9.99879847e-01 -2.62038155e-03 1.52782310e-02 5.85254709e+00] [ 3.20281164e-03 9.99264117e-01 -3.82225900e-02 -2.22593662e-01] [-1.51668302e-02 3.82669307e-02 9.99152445e-01 -8.65633517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61719347 meters Centerline goodness : 0.931484 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.22, Z:-0.87 [[ 9.99888057e-01 -4.27444307e-03 1.43388219e-02 5.85520507e+00] [ 4.82847950e-03 9.99234184e-01 -3.88295051e-02 -2.24375403e-01] [-1.41618665e-02 3.88943931e-02 9.99142967e-01 -8.66445868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64719347 meters Centerline goodness : 0.934654 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.23, Z:-0.86 [[ 0.99989415 -0.0063484 0.01309157 5.88170742] [ 0.0067803 0.99942525 -0.03321451 -0.22647825] [-0.01287318 0.03329976 0.9993625 -0.86445919] [ 0. 0. 0. 1. ]] SLAMing on 56.67719346999999 meters Centerline goodness : 0.937311 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.23, Z:-0.86 [[ 0.99989854 -0.00727196 0.01224847 5.88384441] [ 0.00767789 0.99941167 -0.03342694 -0.22675922] [-0.01199818 0.0335176 0.99936611 -0.86487231] [ 0. 0. 0. 1. ]] SLAMing on 56.70719346999999 meters Centerline goodness : 0.935185 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.23, Z:-0.87 [[ 0.99990366 -0.00768511 0.01155887 5.88612782] [ 0.00806749 0.99940928 -0.03340681 -0.2274034 ] [-0.01129531 0.03349684 0.99937499 -0.86609898] [ 0. 0. 0. 1. ]] SLAMing on 56.737193469999994 meters Centerline goodness : 0.932594 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.23, Z:-0.87 [[ 9.99928920e-01 -5.29146452e-03 1.06843511e-02 5.88921298e+00] [ 5.61513619e-03 9.99519154e-01 -3.04947794e-02 -2.28192471e-01] [-1.05178516e-02 3.05526059e-02 9.99477820e-01 -8.67686227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767193469999995 meters Centerline goodness : 0.931319 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.23, Z:-0.87 [[ 9.99953782e-01 1.14269314e-03 9.54615423e-03 5.89253481e+00] [-9.14245159e-04 9.99713911e-01 -2.39010720e-02 -2.26885016e-01] [-9.57073477e-03 2.38912398e-02 9.99668750e-01 -8.69021660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797193469999996 meters Centerline goodness : 0.930283 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.22, Z:-0.87 [[ 9.99947285e-01 4.84341161e-03 9.05368873e-03 5.89396939e+00] [-4.65803414e-03 9.99781343e-01 -2.03855002e-02 -2.24916598e-01] [-9.15044444e-03 2.03422531e-02 9.99751200e-01 -8.69358216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82719347 meters Centerline goodness : 0.930572 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.22, Z:-0.87 [[ 0.99990143 0.00853747 0.01114608 5.91239824] [-0.00828556 0.99971352 -0.0224551 -0.22115362] [-0.0113346 0.02236054 0.99968572 -0.8711408 ] [ 0. 0. 0. 1. ]] SLAMing on 56.85719347 meters Centerline goodness : 0.931197 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.22, Z:-0.87 [[ 0.99982102 0.0130248 0.01372126 5.92929254] [-0.01271323 0.99966478 -0.02255427 -0.21801224] [-0.01401042 0.02237579 0.99965146 -0.87069921] [ 0. 0. 0. 1. ]] SLAMing on 56.88719346999999 meters Centerline goodness : 0.932297 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.20, Z:-0.87 [[ 0.99963424 0.02205901 0.01564533 5.954792 ] [-0.02100522 0.99769079 -0.06459 -0.20362273] [-0.017034 0.06423774 0.99778923 -0.86583512] [ 0. 0. 0. 1. ]] SLAMing on 56.917193469999994 meters Centerline goodness : 0.933794 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.20, Z:-0.87 [[ 0.9995579 0.02558014 0.01515487 5.95589202] [-0.02461737 0.99785676 -0.06062899 -0.20443179] [-0.01667329 0.06022911 0.99804532 -0.86550993] [ 0. 0. 0. 1. ]] SLAMing on 56.947193469999995 meters Centerline goodness : 0.933694 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.21, Z:-0.87 [[ 0.99950525 0.02797783 0.01437024 5.95871973] [-0.0271078 0.99797538 -0.05753521 -0.20547423] [-0.01595086 0.0571172 0.99824005 -0.86672911] [ 0. 0. 0. 1. ]] SLAMing on 56.977193469999996 meters Centerline goodness : 0.931609 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.20, Z:-0.87 [[ 0.99952987 0.02733614 0.0138844 5.96103187] [-0.02648253 0.99794589 -0.05833253 -0.20486871] [-0.01545047 0.05793742 0.99820065 -0.8682151 ] [ 0. 0. 0. 1. ]] SLAMing on 57.00719347 meters Centerline goodness : 0.929458 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.20, Z:-0.87 [[ 0.99950656 0.02639531 0.01702705 5.96889389] [-0.02506317 0.99692829 -0.07420127 -0.1997716 ] [-0.01893331 0.07373791 0.99709791 -0.86928844] [ 0. 0. 0. 1. ]] SLAMing on 57.03719347 meters Centerline goodness : 0.932812 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.20, Z:-0.87 [[ 0.99945658 0.02873232 0.01615523 5.97187896] [-0.02752186 0.9971162 -0.07072361 -0.2015634 ] [-0.01814069 0.07024055 0.99736512 -0.8706989 ] [ 0. 0. 0. 1. ]] SLAMing on 57.06719346999999 meters Centerline goodness : 0.929434 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.20, Z:-0.87 [[ 0.99945404 0.02909883 0.01564893 5.97314319] [-0.02793977 0.99717101 -0.06978076 -0.20391706] [-0.0176352 0.06930543 0.9974396 -0.87089869] [ 0. 0. 0. 1. ]] SLAMing on 57.09719346999999 meters Centerline goodness : 0.932143 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.21, Z:-0.87 [[ 0.99948139 0.02905282 0.01388828 5.97947442] [-0.02814491 0.99770288 -0.06161845 -0.21167603] [-0.01564657 0.06119561 0.99800315 -0.8678577 ] [ 0. 0. 0. 1. ]] SLAMing on 57.127193469999995 meters Centerline goodness : 0.929324 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.87 [[ 0.99954318 0.02817552 0.01093452 5.98704349] [-0.02752628 0.99807549 -0.05556639 -0.21585804] [-0.01247909 0.05524002 0.99839512 -0.86542208] [ 0. 0. 0. 1. ]] SLAMing on 57.157193469999996 meters Centerline goodness : 0.931572 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:-0.86 [[ 0.99964168 0.02455445 0.01065803 6.00185183] [-0.0240544 0.99870855 -0.04475062 -0.22006524] [-0.01174309 0.04447821 0.99894133 -0.86412981] [ 0. 0. 0. 1. ]] SLAMing on 57.18719347 meters Centerline goodness : 0.932944 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:-0.86 [[ 0.99974478 0.01997459 0.01055372 6.01789454] [-0.01960395 0.99922521 -0.03412723 -0.22405352] [-0.01122722 0.03391162 0.99936177 -0.86254063] [ 0. 0. 0. 1. ]] SLAMing on 57.21719347 meters Centerline goodness : 0.930741 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.23, Z:-0.86 [[ 0.99983722 0.01521875 0.00969181 6.01903205] [-0.0148948 0.99935544 -0.03266269 -0.23368076] [-0.01018265 0.03251301 0.99941944 -0.85786354] [ 0. 0. 0. 1. ]] SLAMing on 57.24719346999999 meters Centerline goodness : 0.931960 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.86 [[ 0.99989087 0.01143726 0.00935057 6.01961224] [-0.01109932 0.99931063 -0.03542692 -0.23785307] [-0.00974931 0.03531927 0.99932852 -0.85776249] [ 0. 0. 0. 1. ]] SLAMing on 57.27719346999999 meters Centerline goodness : 0.932504 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.86 [[ 0.99993185 0.00764015 0.00882716 6.0211596 ] [-0.00729656 0.99923878 -0.03832249 -0.24191251] [-0.00911323 0.03825547 0.99922643 -0.85858346] [ 0. 0. 0. 1. ]] SLAMing on 57.307193469999994 meters Centerline goodness : 0.929347 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.25, Z:-0.86 [[ 9.99977040e-01 4.50825815e-03 5.05908454e-03 6.02954619e+00] [-4.32414813e-03 9.99348507e-01 -3.58310289e-02 -2.46897669e-01] [-5.21732411e-03 3.58083300e-02 9.99345057e-01 -8.57284055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337193469999995 meters Centerline goodness : 0.929436 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.26, Z:-0.86 [[ 9.99991213e-01 -1.19239594e-04 4.19034982e-03 6.03209359e+00] [ 2.06309754e-04 9.99783959e-01 -2.07844480e-02 -2.55750008e-01] [-4.18696620e-03 2.07851298e-02 9.99775199e-01 -8.58468958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36719347 meters Centerline goodness : 0.925557 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.26, Z:-0.86 [[ 9.99994353e-01 4.42446241e-04 3.33143606e-03 6.03600687e+00] [-3.77537283e-04 9.99810579e-01 -1.94592601e-02 -2.57994020e-01] [-3.33941470e-03 1.94578924e-02 9.99805100e-01 -8.61301285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39719347 meters Centerline goodness : 0.924216 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.26, Z:-0.86 [[ 9.99995861e-01 1.06728241e-03 2.67185856e-03 6.03923489e+00] [-1.01847801e-03 9.99833824e-01 -1.82012867e-02 -2.60464159e-01] [-2.69084047e-03 1.81984901e-02 9.99830773e-01 -8.63588433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42719346999999 meters Centerline goodness : 0.924452 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.27, Z:-0.87 [[ 9.99967467e-01 -6.90688272e-04 8.03662814e-03 6.05085581e+00] [ 7.82813532e-04 9.99933961e-01 -1.14656798e-02 -2.68033837e-01] [-8.02817820e-03 1.14715980e-02 9.99901971e-01 -8.67099645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45719346999999 meters Centerline goodness : 0.925623 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.27, Z:-0.87 [[ 9.99970435e-01 -1.78960963e-03 7.47835392e-03 6.05264194e+00] [ 1.87941825e-03 9.99925998e-01 -1.20194212e-02 -2.70990331e-01] [-7.45629043e-03 1.20331208e-02 9.99899799e-01 -8.67824913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487193469999994 meters Centerline goodness : 0.926194 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.27, Z:-0.87 [[ 9.99972459e-01 -1.90805585e-03 7.17220628e-03 6.05345583e+00] [ 1.99067787e-03 9.99931542e-01 -1.15303169e-02 -2.73536391e-01] [-7.14971480e-03 1.15442769e-02 9.99907801e-01 -8.67876530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517193469999995 meters Centerline goodness : 0.928805 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.28, Z:-0.87 [[ 9.99978712e-01 -3.36786992e-04 6.51627586e-03 6.07434917e+00] [ 4.17156531e-04 9.99923819e-01 -1.23362359e-02 -2.75938218e-01] [-6.51162475e-03 1.23386916e-02 9.99902673e-01 -8.68797007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547193469999996 meters Centerline goodness : 0.925326 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.28, Z:-0.87 [[ 9.99979026e-01 4.91672561e-04 6.45800516e-03 6.07463024e+00] [-4.19538038e-04 9.99937566e-01 -1.11663932e-02 -2.78245370e-01] [-6.46309217e-03 1.11634497e-02 9.99916799e-01 -8.68955593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57719347 meters Centerline goodness : 0.927045 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.28, Z:-0.87 [[ 9.99981454e-01 5.71782592e-04 6.06345493e-03 6.07576908e+00] [-5.04784993e-04 9.99938873e-01 -1.10451896e-02 -2.78162872e-01] [-6.06939973e-03 1.10419240e-02 9.99920616e-01 -8.69424350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60719346999999 meters Centerline goodness : 0.928492 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.28, Z:-0.87 [[ 9.99982738e-01 7.33675594e-04 5.82972107e-03 6.07659432e+00] [-6.70316729e-04 9.99940774e-01 -1.08627809e-02 -2.78463977e-01] [-5.83734556e-03 1.08586856e-02 9.99924004e-01 -8.69877835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63719346999999 meters Centerline goodness : 0.923399 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.28, Z:-0.87 [[ 9.99975103e-01 1.40631782e-03 6.91487096e-03 6.09640095e+00] [-1.30831195e-03 9.99898924e-01 -1.41573573e-02 -2.78533159e-01] [-6.93408178e-03 1.41479580e-02 9.99875869e-01 -8.71237444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667193469999994 meters Centerline goodness : 0.926458 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.28, Z:-0.87 [[ 9.99978004e-01 8.95873543e-04 6.57189637e-03 6.09746295e+00] [-8.00240530e-04 9.99893968e-01 -1.45400383e-02 -2.78818750e-01] [-6.58422558e-03 1.45344593e-02 9.99872691e-01 -8.71600295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697193469999995 meters Centerline goodness : 0.930199 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.28, Z:-0.87 [[ 9.99964866e-01 1.26558133e-03 8.28640518e-03 6.11643476e+00] [-1.11281105e-03 9.99829811e-01 -1.84149804e-02 -2.78673770e-01] [-8.30830057e-03 1.84051122e-02 9.99796091e-01 -8.72938976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727193469999996 meters Centerline goodness : 0.932560 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.28, Z:-0.87 [[ 9.99967609e-01 9.95838180e-04 7.98684656e-03 6.11729602e+00] [-8.48451641e-04 9.99829685e-01 -1.84358638e-02 -2.79350761e-01] [-8.00384542e-03 1.84284902e-02 9.99798144e-01 -8.73163572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75719347 meters Centerline goodness : 0.929243 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.28, Z:-0.87 [[ 9.99972286e-01 -2.01718555e-05 7.44491900e-03 6.11958877e+00] [ 1.64366928e-04 9.99812406e-01 -1.93681491e-02 -2.78050994e-01] [-7.44313169e-03 1.93688360e-02 9.99784701e-01 -8.74853411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78719347 meters Centerline goodness : 0.929518 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-0.88 [[ 9.99984185e-01 2.19220004e-03 5.17918118e-03 6.14267448e+00] [-2.08876130e-03 9.99799919e-01 -1.98937138e-02 -2.77202590e-01] [-5.22175593e-03 1.98825811e-02 9.99788686e-01 -8.76975517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81719346999999 meters Centerline goodness : 0.928870 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-0.88 [[ 9.99985214e-01 4.24464805e-03 3.39913792e-03 6.16454420e+00] [-4.17250913e-03 9.99771697e-01 -2.09557685e-02 -2.77273887e-01] [-3.48731175e-03 2.09412757e-02 9.99774625e-01 -8.78228060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84719346999999 meters Centerline goodness : 0.929536 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-0.88 [[ 9.99988931e-01 3.89605461e-03 2.63788973e-03 6.16638427e+00] [-3.83917092e-03 9.99767114e-01 -2.12362383e-02 -2.77564046e-01] [-2.72001295e-03 2.12258759e-02 9.99771006e-01 -8.78653493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877193469999995 meters Centerline goodness : 0.922912 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-0.88 [[ 9.99987452e-01 4.88005336e-03 1.13183647e-03 6.17063631e+00] [-4.85608813e-03 9.99782359e-01 -2.02892121e-02 -2.79624425e-01] [-1.23060258e-03 2.02834612e-02 9.99793512e-01 -8.80847070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907193469999996 meters Centerline goodness : 0.922371 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.28, Z:-0.88 [[ 9.99976849e-01 6.71193371e-03 -1.11903836e-03 6.19311407e+00] [-6.73465334e-03 9.99741547e-01 -2.17136783e-02 -2.79629115e-01] [ 9.73008372e-04 2.17207119e-02 9.99763604e-01 -8.83024543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93719347 meters Centerline goodness : 0.920626 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.89 [[ 9.99970611e-01 7.42059073e-03 -1.92668912e-03 6.19669951e+00] [-7.45884533e-03 9.99758499e-01 -2.06714575e-02 -2.79434979e-01] [ 1.77282940e-03 2.06852208e-02 9.99784466e-01 -8.85332832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96719347 meters Centerline goodness : 0.924830 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.89 [[ 9.99972175e-01 7.09995681e-03 -2.28897851e-03 6.19762848e+00] [-7.14598906e-03 9.99758701e-01 -2.07719827e-02 -2.78759598e-01] [ 2.14094600e-03 2.07877618e-02 9.99781619e-01 -8.85414505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99719346999999 meters Centerline goodness : 0.928363 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99977914e-01 2.99013534e-03 5.93549733e-03 6.20584289e+00] [-2.88526128e-03 9.99840953e-01 -1.75995723e-02 -2.80270100e-01] [-5.98717841e-03 1.75820581e-02 9.99827498e-01 -8.87135843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02719346999999 meters Centerline goodness : 0.930551 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99982358e-01 2.46459202e-03 5.40449276e-03 6.20645650e+00] [-2.37132972e-03 9.99849335e-01 -1.71954732e-02 -2.82649759e-01] [-5.44605832e-03 1.71823540e-02 9.99837540e-01 -8.86131324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057193469999994 meters Centerline goodness : 0.937046 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99985754e-01 1.85927470e-03 5.00354717e-03 6.20706839e+00] [-1.77452926e-03 9.99855804e-01 -1.68885413e-02 -2.84842937e-01] [-5.03422611e-03 1.68794218e-02 9.99844859e-01 -8.85459369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087193469999995 meters Centerline goodness : 0.937046 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.28, Z:-0.89 [[ 9.99985754e-01 1.85927470e-03 5.00354717e-03 6.20706839e+00] [-1.77452926e-03 9.99855804e-01 -1.68885413e-02 -2.84842937e-01] [-5.03422611e-03 1.68794218e-02 9.99844859e-01 -8.85459369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11719347 meters Centerline goodness : 0.935244 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.29, Z:-0.89 [[ 9.99949236e-01 -2.40433920e-03 9.78489077e-03 6.21761088e+00] [ 2.52252988e-03 9.99923798e-01 -1.20845333e-02 -2.85422770e-01] [-9.75508982e-03 1.21086025e-02 9.99879103e-01 -8.88096275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14719347 meters Centerline goodness : 0.932433 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.28, Z:-0.89 [[ 9.99956296e-01 -3.70649123e-03 8.58298587e-03 6.22346521e+00] [ 3.81771734e-03 9.99908481e-01 -1.29789880e-02 -2.82102790e-01] [-8.53409386e-03 1.30111882e-02 9.99878932e-01 -8.92440952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17719346999999 meters Centerline goodness : 0.931127 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.28, Z:-0.90 [[ 9.99981882e-01 -2.43220956e-03 5.50645288e-03 6.24693194e+00] [ 2.50843290e-03 9.99900546e-01 -1.38782238e-02 -2.80897892e-01] [-5.47215049e-03 1.38917849e-02 9.99888531e-01 -8.95105059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20719346999999 meters Centerline goodness : 0.927811 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.28, Z:-0.90 [[ 9.99981843e-01 -3.44211261e-03 4.94622891e-03 6.24876778e+00] [ 3.51515657e-03 9.99883768e-01 -1.48355888e-02 -2.79264168e-01] [-4.89458824e-03 1.48527062e-02 9.99877713e-01 -8.95922927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237193469999994 meters Centerline goodness : 0.926599 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.28, Z:-0.90 [[ 9.99970266e-01 -6.73330012e-03 3.75908420e-03 6.25189399e+00] [ 6.79983978e-03 9.99815257e-01 -1.79781555e-02 -2.76389849e-01] [-3.63733741e-03 1.80031821e-02 9.99831313e-01 -8.96754157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267193469999995 meters Centerline goodness : 0.925695 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-0.90 [[ 9.99964706e-01 -7.76313563e-03 3.21243593e-03 6.25330284e+00] [ 7.82287180e-03 9.99788490e-01 -1.90204751e-02 -2.74550051e-01] [-3.06409794e-03 1.90449343e-02 9.99813934e-01 -8.96999097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297193469999996 meters Centerline goodness : 0.926263 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-0.90 [[ 9.99957807e-01 -8.76633806e-03 2.74500332e-03 6.25443979e+00] [ 8.82031769e-03 9.99754777e-01 -2.03122454e-02 -2.71321212e-01] [-2.56626617e-03 2.03356002e-02 9.99789917e-01 -8.97064252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32719347 meters Centerline goodness : 0.923480 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-0.90 [[ 9.99974823e-01 -6.79930313e-03 2.03040543e-03 6.25640689e+00] [ 6.83482205e-03 9.99814059e-01 -1.80314294e-02 -2.68912124e-01] [-1.90742674e-03 1.80448528e-02 9.99835359e-01 -8.97546525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35719346999999 meters Centerline goodness : 0.926799 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-0.90 [[ 9.99985824e-01 -5.21372457e-03 1.08157091e-03 6.25884517e+00] [ 5.23050231e-03 9.99856101e-01 -1.61374909e-02 -2.65756305e-01] [-9.97278836e-04 1.61429193e-02 9.99869197e-01 -8.97964447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38719346999999 meters Centerline goodness : 0.923637 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.26, Z:-0.90 [[ 9.99985192e-01 -5.44094355e-03 -1.09329570e-04 6.26130670e+00] [ 5.43837392e-03 9.99846995e-01 -1.66255737e-02 -2.57409076e-01] [ 1.99771650e-04 1.66247330e-02 9.99861780e-01 -8.97787519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417193469999994 meters Centerline goodness : 0.926351 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.25, Z:-0.90 [[ 9.99988488e-01 -4.73597473e-03 -7.70637968e-04 6.26366579e+00] [ 4.72327636e-03 9.99865272e-01 -1.57203286e-02 -2.54179534e-01] [ 8.44985221e-04 1.57165077e-02 9.99876131e-01 -8.98669844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447193469999995 meters Centerline goodness : 0.926692 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.25, Z:-0.90 [[ 9.99996410e-01 -2.38345908e-03 -1.22455298e-03 6.26479913e+00] [ 2.36715843e-03 9.99910801e-01 -1.31448407e-02 -2.51781316e-01] [ 1.25577395e-03 1.31418948e-02 9.99912853e-01 -8.98581716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477193469999996 meters Centerline goodness : 0.926275 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.24, Z:-0.90 [[ 9.99985425e-01 -4.30631210e-03 -3.25672638e-03 6.26931862e+00] [ 4.25846314e-03 9.99884940e-01 -1.45592647e-02 -2.40980273e-01] [ 3.31904840e-03 1.45451838e-02 9.99888705e-01 -8.98343225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50719347 meters Centerline goodness : 0.927849 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.24, Z:-0.90 [[ 9.99987679e-01 -2.79536080e-03 -4.10212593e-03 6.27212626e+00] [ 2.74145692e-03 9.99910593e-01 -1.30877836e-02 -2.36489938e-01] [ 4.13834425e-03 1.30763765e-02 9.99905937e-01 -8.99493807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53719347 meters Centerline goodness : 0.925857 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.23, Z:-0.90 [[ 9.99987177e-01 -1.40732871e-03 -4.86465029e-03 6.27509549e+00] [ 1.34892929e-03 9.99927239e-01 -1.19873609e-02 -2.31485285e-01] [ 4.88116649e-03 1.19806451e-02 9.99916316e-01 -9.01082545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56719346999999 meters Centerline goodness : 0.922487 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.23, Z:-0.90 [[ 9.99984065e-01 1.27457901e-04 -5.64394524e-03 6.27797148e+00] [-1.89841573e-04 9.99938884e-01 -1.10540471e-02 -2.25528859e-01] [ 5.64219138e-03 1.10549424e-02 9.99922974e-01 -9.02562300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59719346999999 meters Centerline goodness : 0.918607 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.21, Z:-0.91 [[ 9.99985277e-01 2.38544127e-03 -4.87405220e-03 6.29874521e+00] [-2.46952108e-03 9.99846984e-01 -1.73179237e-02 -2.08418356e-01] [ 4.83199550e-03 1.73297053e-02 9.99838153e-01 -9.07513342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627193469999995 meters Centerline goodness : 0.915878 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.20, Z:-0.91 [[ 9.99984472e-01 4.50299251e-03 -3.28320913e-03 6.31871647e+00] [-4.56889031e-03 9.99782522e-01 -2.03478204e-02 -2.00127618e-01] [ 3.19086902e-03 2.03625051e-02 9.99787571e-01 -9.09914550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657193469999996 meters Centerline goodness : 0.914027 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.19, Z:-0.91 [[ 9.99971074e-01 6.54744469e-03 -3.87077360e-03 6.32036298e+00] [-6.62191423e-03 9.99786955e-01 -1.95498112e-02 -1.92322711e-01] [ 3.74194764e-03 1.95748777e-02 9.99801391e-01 -9.10032729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68719347 meters Centerline goodness : 0.912483 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-0.91 [[ 9.99959793e-01 8.61190363e-03 -2.49950052e-03 6.35642827e+00] [-8.67744162e-03 9.99583724e-01 -2.75151084e-02 -1.75665529e-01] [ 2.26150257e-03 2.75356914e-02 9.99618263e-01 -9.12515701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71719347 meters Centerline goodness : 0.915601 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.17, Z:-0.91 [[ 9.99942062e-01 1.03312970e-02 -3.02270455e-03 6.35860184e+00] [-1.04082439e-02 9.99590465e-01 -2.66565329e-02 -1.68797153e-01] [ 2.74607008e-03 2.66864495e-02 9.99640081e-01 -9.13400675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74719346999999 meters Centerline goodness : 0.915574 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.16, Z:-0.91 [[ 9.99923229e-01 1.18534547e-02 -3.61006897e-03 6.36076831e+00] [-1.19427572e-02 9.99595493e-01 -2.58112749e-02 -1.62261382e-01] [ 3.30265589e-03 2.58524075e-02 9.99660315e-01 -9.14200885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77719346999999 meters Centerline goodness : 0.914290 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.16, Z:-0.91 [[ 9.99897403e-01 1.37074747e-02 -4.15783852e-03 6.36265275e+00] [-1.38078191e-02 9.99588319e-01 -2.51503012e-02 -1.56025793e-01] [ 3.81137970e-03 2.52051315e-02 9.99675035e-01 -9.14392685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807193469999994 meters Centerline goodness : 0.912900 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.14, Z:-0.91 [[ 9.99838070e-01 1.75555222e-02 -3.95447978e-03 6.36244429e+00] [-1.76426647e-02 9.99575158e-01 -2.32000031e-02 -1.44986333e-01] [ 3.54551158e-03 2.32660139e-02 9.99723023e-01 -9.13107450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837193469999995 meters Centerline goodness : 0.911110 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.14, Z:-0.91 [[ 9.99807784e-01 1.90227080e-02 -4.74683654e-03 6.36538379e+00] [-1.91252551e-02 9.99561996e-01 -2.25840774e-02 -1.39838546e-01] [ 4.31514710e-03 2.26705208e-02 9.99733678e-01 -9.14208690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86719347 meters Centerline goodness : 0.908768 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.14, Z:-0.91 [[ 9.99748096e-01 2.18995353e-02 -4.91470825e-03 6.36670742e+00] [-2.19954617e-02 9.99550000e-01 -2.03960211e-02 -1.35841655e-01] [ 4.46583324e-03 2.04989845e-02 9.99779900e-01 -9.14947244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89719347 meters Centerline goodness : 0.907130 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:-0.91 [[ 9.99704345e-01 2.35310742e-02 -6.12460036e-03 6.36965253e+00] [-2.36503310e-02 9.99516437e-01 -2.01879704e-02 -1.26149210e-01] [ 5.64659410e-03 2.03268505e-02 9.99777443e-01 -9.14727473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92719346999999 meters Centerline goodness : 0.907731 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:-0.91 [[ 9.99668671e-01 2.50598026e-02 -5.87822448e-03 6.36855248e+00] [-2.51693150e-02 9.99495693e-01 -1.93614555e-02 -1.21905851e-01] [ 5.39006580e-03 1.95029914e-02 9.99795269e-01 -9.13236396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95719346999999 meters Centerline goodness : 0.905297 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:-0.91 [[ 9.99597316e-01 2.77157379e-02 -6.08642010e-03 6.36885045e+00] [-2.78158939e-02 9.99467839e-01 -1.70386195e-02 -1.19052776e-01] [ 5.61094324e-03 1.72010575e-02 9.99836307e-01 -9.12509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987193469999994 meters Centerline goodness : 0.909685 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:-0.91 [[ 9.99519031e-01 3.03812613e-02 -6.21985350e-03 6.36911201e+00] [-3.04700904e-02 9.99427239e-01 -1.47230387e-02 -1.15816122e-01] [ 5.76898653e-03 1.49054768e-02 9.99872265e-01 -9.11799009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017193469999995 meters Centerline goodness : 0.913732 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:-0.91 [[ 9.99456238e-01 3.28888205e-02 2.35668154e-03 6.37209155e+00] [-3.28789629e-02 9.99450906e-01 -4.10616690e-03 -1.07148716e-01] [-2.49043448e-03 4.02644888e-03 9.99988793e-01 -9.09538211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047193469999996 meters Centerline goodness : 0.910209 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:-0.91 [[ 9.99376514e-01 3.52057374e-02 2.67188320e-03 6.37051934e+00] [-3.51987683e-02 9.99376918e-01 -2.61197553e-03 -1.02255806e-01] [-2.76217492e-03 2.51630000e-03 9.99993019e-01 -9.07578843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07719347 meters Centerline goodness : 0.910993 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:-0.91 [[ 9.99371417e-01 3.53559516e-02 2.59388720e-03 6.37098675e+00] [-3.53456707e-02 9.99367507e-01 -3.90771669e-03 -9.65014339e-02] [-2.73040763e-03 3.81357769e-03 9.99989001e-01 -9.07362647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10719346999999 meters Centerline goodness : 0.914017 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.09, Z:-0.91 [[ 9.99250686e-01 3.86216334e-02 2.53678337e-03 6.37190318e+00] [-3.86176373e-02 9.99252771e-01 -1.60581441e-03 -9.21207908e-02] [-2.59690698e-03 1.50664657e-03 9.99995493e-01 -9.07664719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13719346999999 meters Centerline goodness : 0.911149 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.08, Z:-0.91 [[ 9.98858850e-01 4.76494286e-02 -3.24508964e-03 6.36143742e+00] [-4.76583518e-02 9.98859964e-01 -2.73025575e-03 -7.84270731e-02] [ 3.11129499e-03 2.88179574e-03 9.99991008e-01 -9.05040756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167193469999994 meters Centerline goodness : 0.909763 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:-0.91 [[ 9.98683531e-01 5.11909769e-02 -3.26925786e-03 6.36303407e+00] [-5.11936236e-02 9.98688479e-01 -7.31036991e-04 -7.20787123e-02] [ 3.22754767e-03 8.97439760e-04 9.99994389e-01 -9.06226269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197193469999995 meters Centerline goodness : 0.909826 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:-0.91 [[ 9.98455197e-01 5.54801295e-02 -3.02895933e-03 6.36401596e+00] [-5.54736866e-02 9.98457789e-01 2.17128920e-03 -6.63910750e-02] [ 3.14475144e-03 -1.99990744e-03 9.99993055e-01 -9.07093162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227193469999996 meters Centerline goodness : 0.906608 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.06, Z:-0.91 [[ 9.98034151e-01 6.25842952e-02 -3.32260503e-03 6.36658029e+00] [-6.25615209e-02 9.98019516e-01 6.56523514e-03 -5.67348335e-02] [ 3.72690527e-03 -6.34446166e-03 9.99972929e-01 -9.08492497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25719347 meters Centerline goodness : 0.905288 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.05, Z:-0.91 [[ 9.97728192e-01 6.72544290e-02 -3.91112273e-03 6.36997579e+00] [-6.72107147e-02 9.97684582e-01 1.04016386e-02 -5.36599118e-02] [ 4.60162311e-03 -1.01151387e-02 9.99938253e-01 -9.10503452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28719347 meters Centerline goodness : 0.902027 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.05, Z:-0.91 [[ 9.97483457e-01 7.07771490e-02 -4.16520677e-03 6.37148345e+00] [-7.07172066e-02 9.97410238e-01 1.31108323e-02 -5.00661340e-02] [ 5.08236720e-03 -1.27832865e-02 9.99905374e-01 -9.10883817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31719346999999 meters Centerline goodness : 0.905439 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.05, Z:-0.91 [[ 9.97225501e-01 7.43196670e-02 -4.22940364e-03 6.37251763e+00] [-7.42433072e-02 9.97111715e-01 1.60049690e-02 -4.68282067e-02] [ 5.40667188e-03 -1.56465583e-02 9.99862967e-01 -9.11088182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34719346999999 meters Centerline goodness : 0.902514 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.04, Z:-0.91 [[ 9.96939611e-01 7.80494097e-02 -4.43870963e-03 6.37429387e+00] [-7.79539241e-02 9.96782031e-01 1.86753451e-02 -4.25168396e-02] [ 5.88202566e-03 -1.82721764e-02 9.99815748e-01 -9.11901617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377193469999995 meters Centerline goodness : 0.903429 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:-0.91 [[ 9.96942755e-01 7.79831545e-02 -4.87552454e-03 6.37601250e+00] [-7.78813836e-02 9.96792653e-01 1.84091644e-02 -4.21847434e-02] [ 6.29549175e-03 -1.79731705e-02 9.99818650e-01 -9.13079655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407193469999996 meters Centerline goodness : 0.903876 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:-0.92 [[ 9.97095395e-01 7.59552063e-02 -5.61964997e-03 6.37876034e+00] [-7.58574175e-02 9.96991216e-01 1.59426007e-02 -4.23473114e-02] [ 6.81366518e-03 -1.54700016e-02 9.99857116e-01 -9.15106317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43719347 meters Centerline goodness : 0.903284 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:-0.92 [[ 9.97355670e-01 7.26697246e-02 8.81971962e-04 6.38990014e+00] [-7.26721882e-02 9.97134392e-01 2.10180322e-02 -4.62844231e-02] [ 6.47930035e-04 -2.10265484e-02 9.99778708e-01 -9.19009304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46719347 meters Centerline goodness : 0.902516 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:-0.92 [[ 9.97599229e-01 6.92484729e-02 6.53447935e-04 6.38975857e+00] [-6.92494281e-02 9.97450201e-01 1.72514899e-02 -4.61014703e-02] [ 5.42857559e-04 -1.72553240e-02 9.99850968e-01 -9.18347168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49719346999999 meters Centerline goodness : 0.903552 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.05, Z:-0.92 [[ 9.97847607e-01 6.51538706e-02 7.42470104e-03 6.40018301e+00] [-6.52999308e-02 9.97633929e-01 2.15049426e-02 -4.91808148e-02] [-6.00600342e-03 -2.19434880e-02 9.99741172e-01 -9.21751265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52719346999999 meters Centerline goodness : 0.902006 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.05, Z:-0.92 [[ 9.98081632e-01 6.14938262e-02 7.18084367e-03 6.39974589e+00] [-6.16142430e-02 9.97938367e-01 1.79638724e-02 -5.04868872e-02] [-6.06137216e-03 -1.83718533e-02 9.99812850e-01 -9.20875536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557193469999994 meters Centerline goodness : 0.898908 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.06, Z:-0.92 [[ 0.99843188 0.05504082 0.01021199 6.42243308] [-0.05542151 0.99758933 0.04176111 -0.06326335] [-0.00788881 -0.04226159 0.99907544 -0.91885476] [ 0. 0. 0. 1. ]] SLAMing on 59.587193469999995 meters Centerline goodness : 0.902786 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.07, Z:-0.92 [[ 0.99870343 0.04926168 0.0128351 6.44088188] [-0.0499039 0.99719656 0.05575502 -0.06883282] [-0.01005253 -0.05632325 0.99836198 -0.91869051] [ 0. 0. 0. 1. ]] SLAMing on 59.61719347 meters Centerline goodness : 0.900115 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.07, Z:-0.92 [[ 0.99883326 0.04552966 0.01609852 6.44856804] [-0.04647916 0.99682965 0.06457817 -0.07285895] [-0.01310726 -0.06525107 0.99778279 -0.91816994] [ 0. 0. 0. 1. ]] SLAMing on 59.64719347 meters Centerline goodness : 0.899190 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.08, Z:-0.92 [[ 0.9988855 0.04429825 0.01629185 6.44775127] [-0.04526414 0.99687926 0.06467529 -0.07500663] [-0.01337601 -0.06534064 0.99777336 -0.91682442] [ 0. 0. 0. 1. ]] SLAMing on 59.67719346999999 meters Centerline goodness : 0.900486 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.08, Z:-0.91 [[ 0.99933813 0.03322308 0.01481633 6.43791237] [-0.03433638 0.99599161 0.08259375 -0.07951664] [-0.01201292 -0.08304783 0.99647315 -0.91212521] [ 0. 0. 0. 1. ]] SLAMing on 59.70719346999999 meters Centerline goodness : 0.902922 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.08, Z:-0.91 [[ 0.99949893 0.03035606 0.00896598 6.42978962] [-0.03090604 0.99711026 0.06939699 -0.07768445] [-0.00683345 -0.06963933 0.99754883 -0.90934147] [ 0. 0. 0. 1. ]] SLAMing on 59.737193469999994 meters Centerline goodness : 0.902393 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:-0.91 [[ 9.99579959e-01 2.88378909e-02 2.87781887e-03 6.42091924e+00] [-2.89559424e-02 9.97914155e-01 5.76965600e-02 -7.56684523e-02] [-1.20796909e-03 -5.77556550e-02 9.98330018e-01 -9.06068976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767193469999995 meters Centerline goodness : 0.899139 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-0.90 [[ 9.99638150e-01 2.68953588e-02 4.56492203e-04 6.40259296e+00] [-2.68812904e-02 9.98207789e-01 5.34659276e-02 -7.29806764e-02] [ 9.82311233e-04 -5.34588521e-02 9.98569570e-01 -9.04964555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797193469999996 meters Centerline goodness : 0.899033 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-0.90 [[ 9.99642985e-01 2.67135398e-02 5.38502949e-04 6.40209395e+00] [-2.67048209e-02 9.98255055e-01 5.26659005e-02 -7.03352068e-02] [ 8.69329337e-04 -5.26614786e-02 9.98612043e-01 -9.04127898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82719347 meters Centerline goodness : 0.904293 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-0.90 [[ 9.99641446e-01 2.67756817e-02 -2.04857641e-04 6.40249833e+00] [-2.67274042e-02 9.98243572e-01 5.28716922e-02 -6.77944579e-02] [ 1.62017342e-03 -5.28472595e-02 9.98601293e-01 -9.02488741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85719346999999 meters Centerline goodness : 0.903197 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.06, Z:-0.90 [[ 9.99561013e-01 2.90649433e-02 -5.74553752e-03 6.39387577e+00] [-2.87797011e-02 9.98586153e-01 4.46925457e-02 -6.39693528e-02] [ 7.03640051e-03 -4.45075714e-02 9.98984267e-01 -8.99914068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88719346999999 meters Centerline goodness : 0.899831 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:-0.90 [[ 0.99948073 0.03021553 -0.01119367 6.38000647] [-0.02968154 0.99853968 0.04513882 -0.06130504] [ 0.01254122 -0.04478313 0.99891801 -0.90096707] [ 0. 0. 0. 1. ]] SLAMing on 59.917193469999994 meters Centerline goodness : 0.898548 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:-0.90 [[ 0.99958749 0.02649282 -0.0110898 6.35486844] [-0.02594328 0.99855481 0.04706633 -0.05809674] [ 0.01232069 -0.04675921 0.9988302 -0.9031615 ] [ 0. 0. 0. 1. ]] SLAMing on 59.947193469999995 meters Centerline goodness : 0.899628 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:-0.90 [[ 0.99960382 0.02559362 -0.01171196 6.35629847] [-0.02502469 0.9986101 0.04638573 -0.05707907] [ 0.01288286 -0.04607427 0.99885494 -0.90343156] [ 0. 0. 0. 1. ]] SLAMing on 59.977193469999996 meters Centerline goodness : 0.899628 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:-0.90 [[ 0.99960499 0.02551379 -0.01178613 6.35634054] [-0.02494327 0.99861838 0.04625104 -0.05648003] [ 0.01294989 -0.04593878 0.99886031 -0.90327506] [ 0. 0. 0. 1. ]] SLAMing on 60.00719347 meters Centerline goodness : 0.896261 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.05, Z:-0.90 [[ 0.99964416 0.02303947 -0.01344362 6.33692769] [-0.02247961 0.9989304 0.04040695 -0.05209682] [ 0.01436019 -0.04009037 0.99909286 -0.90206189] [ 0. 0. 0. 1. ]] SLAMing on 60.03719347 meters Centerline goodness : 0.902305 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.05, Z:-0.90 [[ 0.99966899 0.02216301 -0.01306593 6.33551935] [-0.02164877 0.99903307 0.03826569 -0.04655804] [ 0.01390138 -0.03797016 0.99918217 -0.90081614] [ 0. 0. 0. 1. ]] SLAMing on 60.06719346999999 meters Centerline goodness : 0.901006 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.04, Z:-0.90 [[ 0.99964796 0.02327769 -0.01273243 6.33385797] [-0.02277136 0.9989967 0.03856253 -0.0438904 ] [ 0.0136173 -0.03825902 0.99917507 -0.89919594] [ 0. 0. 0. 1. ]] SLAMing on 60.09719346999999 meters Centerline goodness : 0.898909 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.04, Z:-0.90 [[ 0.99962833 0.02429833 -0.01236082 6.33242473] [-0.02380573 0.9989731 0.03854918 -0.04111492] [ 0.01328481 -0.03824059 0.99918025 -0.89786917] [ 0. 0. 0. 1. ]] SLAMing on 60.127193469999995 meters Centerline goodness : 0.903947 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.03, Z:-0.90 [[ 0.99941678 0.0327514 -0.00966724 6.32907967] [-0.03247049 0.99908293 0.02791002 -0.03358765] [ 0.01057247 -0.02757984 0.99956369 -0.89607366] [ 0. 0. 0. 1. ]] SLAMing on 60.157193469999996 meters Centerline goodness : 0.905170 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.90 [[ 9.99331276e-01 3.62851981e-02 -4.51500003e-03 6.33793866e+00] [-3.61847325e-02 9.99132044e-01 2.06354947e-02 -2.83714161e-02] [ 5.25984422e-03 -2.04583212e-02 9.99776871e-01 -8.97889113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18719347 meters Centerline goodness : 0.903290 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.03, Z:-0.90 [[ 9.99180534e-01 4.01899501e-02 -4.79873634e-03 6.33931315e+00] [-4.00650192e-02 9.98914042e-01 2.37808840e-02 -2.55304997e-02] [ 5.74927765e-03 -2.35691349e-02 9.99705678e-01 -8.98523122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21719347 meters Centerline goodness : 0.903887 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.02, Z:-0.90 [[ 9.99053781e-01 4.31718839e-02 -5.26600960e-03 6.34191333e+00] [-4.30200942e-02 9.98731738e-01 2.61569787e-02 -2.31203876e-02] [ 6.38857696e-03 -2.59056842e-02 9.99643977e-01 -9.00266993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24719346999999 meters Centerline goodness : 0.904917 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.02, Z:-0.90 [[ 9.98975913e-01 4.48733488e-02 -5.78855124e-03 6.34488175e+00] [-4.47011505e-02 9.98633716e-01 2.70648781e-02 -2.15002510e-02] [ 6.99513415e-03 -2.67784064e-02 9.99616919e-01 -9.02575422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27719346999999 meters Centerline goodness : 0.906136 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.90 [[ 9.98833837e-01 4.78973624e-02 -6.06705359e-03 6.34727201e+00] [-4.76989256e-02 9.98427246e-01 2.94592356e-02 -1.93098393e-02] [ 7.46853129e-03 -2.91354894e-02 9.99547570e-01 -9.04538606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307193469999994 meters Centerline goodness : 0.906966 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.90 [[ 0.99883705 0.04776881 -0.00653414 6.34851813] [-0.04755915 0.99844254 0.02916548 -0.01870983] [ 0.00791716 -0.0288208 0.99955324 -0.90497555] [ 0. 0. 0. 1. ]] SLAMing on 60.337193469999995 meters Centerline goodness : 0.905154 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.02, Z:-0.91 [[ 0.99893568 0.04549278 -0.00761049 6.35191588] [-0.04527614 0.99862142 0.02655788 -0.01876424] [ 0.00880819 -0.02618504 0.99961831 -0.90691224] [ 0. 0. 0. 1. ]] SLAMing on 60.36719347 meters Centerline goodness : 0.903953 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.02, Z:-0.91 [[ 0.9990168 0.0434808 -0.00865122 6.35535222] [-0.04325675 0.99876135 0.02458886 -0.02033888] [ 0.00970965 -0.02419046 0.99966021 -0.9089311 ] [ 0. 0. 0. 1. ]] SLAMing on 60.39719347 meters Centerline goodness : 0.905141 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:-0.91 [[ 0.99921234 0.03834804 -0.01020471 6.38072105] [-0.03801861 0.99880457 0.03072479 -0.02687108] [ 0.01137074 -0.03031262 0.99947579 -0.90720121] [ 0. 0. 0. 1. ]] SLAMing on 60.42719346999999 meters Centerline goodness : 0.908768 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.03, Z:-0.91 [[ 9.99274663e-01 3.79475099e-02 -3.18350181e-03 6.39097847e+00] [-3.78610730e-02 9.98998576e-01 2.38408310e-02 -2.73647180e-02] [ 4.08501395e-03 -2.37030075e-02 9.99710698e-01 -9.09408735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45719346999999 meters Centerline goodness : 0.906835 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.03, Z:-0.91 [[ 9.99331612e-01 3.63694487e-02 3.68668930e-03 6.40117784e+00] [-3.64659192e-02 9.98860115e-01 3.08011029e-02 -3.03534103e-02] [-2.56226777e-03 -3.09149543e-02 9.99518734e-01 -9.12403318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487193469999994 meters Centerline goodness : 0.913518 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.03, Z:-0.91 [[ 9.99266077e-01 3.81194783e-02 3.76999236e-03 6.40070554e+00] [-3.82214167e-02 9.98748727e-01 3.22506225e-02 -3.23884094e-02] [-2.53589817e-03 -3.23710475e-02 9.99472703e-01 -9.11326946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517193469999995 meters Centerline goodness : 0.912266 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.03, Z:-0.91 [[ 0.99913635 0.04087523 0.00746785 6.41018087] [-0.04104433 0.99886663 0.02410036 -0.03325656] [-0.00647428 -0.02438606 0.99968165 -0.91261366] [ 0. 0. 0. 1. ]] SLAMing on 60.547193469999996 meters Centerline goodness : 0.913310 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.04, Z:-0.91 [[ 9.99090245e-01 4.20097742e-02 7.33901210e-03 6.41089026e+00] [-4.21816319e-02 9.98794979e-01 2.50858525e-02 -3.56878287e-02] [-6.27631744e-03 -2.53726021e-02 9.99658361e-01 -9.13021084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57719347 meters Centerline goodness : 0.913025 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.04, Z:-0.91 [[ 9.99041855e-01 4.31565392e-02 7.27224556e-03 6.41194657e+00] [-4.33327391e-02 9.98719168e-01 2.61208317e-02 -3.80546677e-02] [-6.13564633e-03 -2.64109304e-02 9.99632341e-01 -9.14054081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60719346999999 meters Centerline goodness : 0.916457 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.04, Z:-0.92 [[ 9.98898435e-01 4.63511796e-02 7.31326873e-03 6.41399178e+00] [-4.65461077e-02 9.98488624e-01 2.92220460e-02 -4.21380407e-02] [-5.94773933e-03 -2.95302602e-02 9.99546191e-01 -9.16362836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63719346999999 meters Centerline goodness : 0.910611 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.04, Z:-0.92 [[ 9.98868833e-01 4.70059721e-02 7.17584108e-03 6.41500325e+00] [-4.72017826e-02 9.98431021e-01 3.01245255e-02 -4.41110647e-02] [-5.74854974e-03 -3.04291622e-02 9.99520395e-01 -9.17200687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667193469999994 meters Centerline goodness : 0.914801 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.05, Z:-0.92 [[ 9.98905469e-01 4.64527872e-02 5.47738239e-03 6.43598630e+00] [-4.65968577e-02 9.98462179e-01 3.00334953e-02 -4.71228105e-02] [-4.07381958e-03 -3.02558516e-02 9.99533885e-01 -9.17973610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697193469999995 meters Centerline goodness : 0.911821 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.05, Z:-0.92 [[ 9.99035125e-01 4.36246939e-02 5.06996796e-03 6.43722925e+00] [-4.37476564e-02 9.98666840e-01 2.73986466e-02 -5.02713483e-02] [-3.86795131e-03 -2.75940096e-02 9.99611729e-01 -9.18801624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727193469999996 meters Centerline goodness : 0.913404 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.06, Z:-0.92 [[ 9.99207215e-01 3.95772289e-02 4.31089379e-03 6.43909732e+00] [-3.96701180e-02 9.98920680e-01 2.41610607e-02 -6.04349165e-02] [-3.35001313e-03 -2.43129199e-02 9.99698784e-01 -9.19577414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75719347 meters Centerline goodness : 0.909439 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.06, Z:-0.92 [[ 9.99330778e-01 3.63560502e-02 4.02902335e-03 6.43968990e+00] [-3.64351309e-02 9.99100565e-01 2.16919829e-02 -6.49499755e-02] [-3.23676469e-03 -2.18242641e-02 9.99756583e-01 -9.19777633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78719347 meters Centerline goodness : 0.911934 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-0.92 [[ 0.99944703 0.03243051 0.0073419 6.4555875 ] [-0.03259246 0.99920101 0.0231318 -0.07728329] [-0.00658586 -0.0233583 0.99970546 -0.92064212] [ 0. 0. 0. 1. ]] SLAMing on 60.81719346999999 meters Centerline goodness : 0.912639 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-0.92 [[ 9.99542295e-01 2.94262017e-02 7.02134266e-03 6.45629721e+00] [-2.95667601e-02 9.99345669e-01 2.08336246e-02 -8.21318270e-02] [-6.40369394e-03 -2.10316873e-02 9.99758301e-01 -9.20841671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84719346999999 meters Centerline goodness : 0.910615 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.09, Z:-0.92 [[ 0.99960848 0.02693014 0.0075925 6.47584152] [-0.0270836 0.99941486 0.02089057 -0.08911591] [-0.00702547 -0.02108803 0.99975294 -0.92203317] [ 0. 0. 0. 1. ]] SLAMing on 60.877193469999995 meters Centerline goodness : 0.911329 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.09, Z:-0.92 [[ 0.99974417 0.02151536 0.0069769 6.47808837] [-0.02162399 0.99963991 0.01588853 -0.09433775] [-0.00663254 -0.01603534 0.99984943 -0.92360953] [ 0. 0. 0. 1. ]] SLAMing on 60.907193469999996 meters Centerline goodness : 0.916133 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.10, Z:-0.93 [[ 9.99871317e-01 1.46832581e-02 6.46153838e-03 6.48103838e+00] [-1.47520334e-02 9.99833629e-01 1.07280731e-02 -1.04859089e-01] [-6.30294030e-03 -1.08220134e-02 9.99921575e-01 -9.26266545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93719347 meters Centerline goodness : 0.915816 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.11, Z:-0.93 [[ 9.99912308e-01 1.17754780e-02 6.05931966e-03 6.48321424e+00] [-1.18287563e-02 9.99891020e-01 8.83338123e-03 -1.10047422e-01] [-5.95464203e-03 -8.90428082e-03 9.99942626e-01 -9.27994036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96719347 meters Centerline goodness : 0.913600 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.12, Z:-0.93 [[ 9.99966296e-01 6.11621377e-03 5.47712059e-03 6.48530782e+00] [-6.13548609e-03 9.99975022e-01 3.50883375e-03 -1.15036044e-01] [-5.45552301e-03 -3.54232028e-03 9.99978844e-01 -9.29287097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99719346999999 meters Centerline goodness : 0.912791 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.12, Z:-0.93 [[ 9.99987706e-01 -3.39871217e-04 4.94690797e-03 6.48697792e+00] [ 3.49756266e-04 9.99997944e-01 -1.99749996e-03 -1.21105463e-01] [-4.94621891e-03 1.99920562e-03 9.99985769e-01 -9.30345905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02719346999999 meters Centerline goodness : 0.917384 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.14, Z:-0.93 [[ 9.99959315e-01 -8.23949075e-03 3.67130205e-03 6.48896716e+00] [ 8.24162846e-03 9.99965876e-01 -5.67526801e-04 -1.38279181e-01] [-3.66650064e-03 5.97761218e-04 9.99993100e-01 -9.26863072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057193469999994 meters Centerline goodness : 0.917010 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.14, Z:-0.93 [[ 9.99906099e-01 -1.33962614e-02 2.88683800e-03 6.49110235e+00] [ 1.34098004e-02 9.99898931e-01 -4.72273482e-03 -1.43765989e-01] [-2.82327924e-03 4.76100327e-03 9.99984681e-01 -9.27385033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087193469999995 meters Centerline goodness : 0.918421 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.15, Z:-0.93 [[ 9.99847038e-01 -1.73022509e-02 2.55573569e-03 6.49180949e+00] [ 1.73206318e-02 9.99822941e-01 -7.35406166e-03 -1.48582575e-01] [-2.42804136e-03 7.39720373e-03 9.99969693e-01 -9.26993564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11719347 meters Centerline goodness : 0.929109 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.16, Z:-0.92 [[ 9.99731626e-01 -2.29401432e-02 3.22877848e-03 6.48875390e+00] [ 2.29746470e-02 9.99674547e-01 -1.10890039e-02 -1.56675845e-01] [-2.97334432e-03 1.11602079e-02 9.99933302e-01 -9.23491415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14719347 meters Centerline goodness : 0.926408 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.16, Z:-0.92 [[ 9.99746153e-01 -2.23093486e-02 3.15009249e-03 6.48786658e+00] [ 2.23371789e-02 9.99709126e-01 -9.09475590e-03 -1.62297920e-01] [-2.94627813e-03 9.16281140e-03 9.99953680e-01 -9.21614363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17719346999999 meters Centerline goodness : 0.928846 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-0.92 [[ 9.99678677e-01 -2.51644529e-02 3.04843069e-03 6.48748873e+00] [ 2.51980863e-02 9.99615767e-01 -1.15487924e-02 -1.65656788e-01] [-2.75664034e-03 1.16218962e-02 9.99928664e-01 -9.20435270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20719346999999 meters Centerline goodness : 0.927605 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-0.92 [[ 9.99660003e-01 -2.59542112e-02 2.50153615e-03 6.48934465e+00] [ 2.59820481e-02 9.99592471e-01 -1.18248078e-02 -1.68829617e-01] [-2.19361314e-03 1.18857824e-02 9.99926955e-01 -9.21190022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237193469999994 meters Centerline goodness : 0.930415 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-0.92 [[ 9.99657627e-01 -2.60783831e-02 2.13235289e-03 6.49068891e+00] [ 2.61014388e-02 9.99591841e-01 -1.16131838e-02 -1.69733283e-01] [-1.82862950e-03 1.16648652e-02 9.99930291e-01 -9.21970114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267193469999995 meters Centerline goodness : 0.922343 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.17, Z:-0.93 [[ 9.99722691e-01 -2.33380087e-02 3.14291537e-03 6.50715437e+00] [ 2.33887224e-02 9.99578430e-01 -1.72026293e-02 -1.67307886e-01] [-2.74011530e-03 1.72713676e-02 9.99847084e-01 -9.27237168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297193469999996 meters Centerline goodness : 0.923112 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.17, Z:-0.93 [[ 9.99737737e-01 -2.27910789e-02 2.24144377e-03 6.51143401e+00] [ 2.28251619e-02 9.99601934e-01 -1.65826768e-02 -1.67447185e-01] [-1.86261443e-03 1.66294891e-02 9.99859986e-01 -9.30495559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32719347 meters Centerline goodness : 0.924082 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.17, Z:-0.93 [[ 9.99764100e-01 -2.16710205e-02 1.45325326e-03 6.51440454e+00] [ 2.16906771e-02 9.99648457e-01 -1.52471989e-02 -1.68960737e-01] [-1.12232002e-03 1.52751241e-02 9.99882699e-01 -9.32319125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35719346999999 meters Centerline goodness : 0.924221 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.17, Z:-0.93 [[ 9.99761831e-01 -2.18036931e-02 9.38311706e-04 6.51612600e+00] [ 2.18155623e-02 9.99643433e-01 -1.53976683e-02 -1.69349497e-01] [-6.02251100e-04 1.54144709e-02 9.99881009e-01 -9.33204939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38719346999999 meters Centerline goodness : 0.924702 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.17, Z:-0.94 [[ 9.99805951e-01 -1.96761560e-02 -9.53110826e-04 6.53818798e+00] [ 1.96586114e-02 9.99681384e-01 -1.58325623e-02 -1.69832785e-01] [ 1.26433111e-03 1.58107531e-02 9.99874203e-01 -9.35038868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417193469999994 meters Centerline goodness : 0.923908 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.17, Z:-0.94 [[ 9.99825381e-01 -1.85954787e-02 -1.84837343e-03 6.54132261e+00] [ 1.85662363e-02 9.99718880e-01 -1.47463794e-02 -1.69782318e-01] [ 2.12206980e-03 1.47094871e-02 9.99889558e-01 -9.36845253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447193469999995 meters Centerline goodness : 0.924604 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.17, Z:-0.94 [[ 9.99917624e-01 -1.28181136e-02 -6.64427431e-04 6.55327602e+00] [ 1.28032684e-02 9.99739361e-01 -1.89020060e-02 -1.69180521e-01] [ 9.06542316e-04 1.88919421e-02 9.99821120e-01 -9.39251767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477193469999996 meters Centerline goodness : 0.923794 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.17, Z:-0.94 [[ 9.99974253e-01 -7.15508307e-03 -5.45731912e-04 6.57463994e+00] [ 7.13608838e-03 9.99547737e-01 -2.92129696e-02 -1.66642545e-01] [ 7.54506322e-04 2.92083231e-02 9.99573061e-01 -9.40493860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50719347 meters Centerline goodness : 0.920972 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.16, Z:-0.94 [[ 9.99999672e-01 7.55506952e-04 -2.92316559e-04 6.60339730e+00] [-7.69414517e-04 9.98701862e-01 -5.09313102e-02 -1.62582584e-01] [ 2.53458133e-04 5.09315184e-02 9.98702116e-01 -9.39359219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53719347 meters Centerline goodness : 0.923061 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.16, Z:-0.94 [[ 9.99993269e-01 2.26141290e-03 2.88943304e-03 6.61975579e+00] [-2.10329154e-03 9.98560163e-01 -5.36020212e-02 -1.62854337e-01] [-3.00648903e-03 5.35955830e-02 9.98558198e-01 -9.39293504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56719346999999 meters Centerline goodness : 0.923967 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.17, Z:-0.94 [[ 9.99984363e-01 5.14799021e-03 2.18463125e-03 6.62235921e+00] [-5.03179685e-03 9.98725529e-01 -5.02194993e-02 -1.65278954e-01] [-2.44037649e-03 5.02077214e-02 9.98735816e-01 -9.40778940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59719346999999 meters Centerline goodness : 0.923605 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.17, Z:-0.94 [[ 9.99964195e-01 8.28149847e-03 1.73944571e-03 6.62488271e+00] [-8.19160283e-03 9.98883204e-01 -4.65321752e-02 -1.67214545e-01] [-2.12285924e-03 4.65162602e-02 9.98915277e-01 -9.42752520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627193469999995 meters Centerline goodness : 0.922174 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.17, Z:-0.94 [[ 9.99922147e-01 1.23716578e-02 1.62525601e-03 6.62588356e+00] [-1.22935788e-02 9.99062983e-01 -4.14972650e-02 -1.70254311e-01] [-2.13712309e-03 4.14740541e-02 9.99137296e-01 -9.43468032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657193469999996 meters Centerline goodness : 0.923388 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.17, Z:-0.94 [[ 9.99915187e-01 1.29385282e-02 1.48774635e-03 6.62583867e+00] [-1.28676256e-02 9.99095620e-01 -4.05261286e-02 -1.71701345e-01] [-2.01074932e-03 4.05035477e-02 9.99177371e-01 -9.42940853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68719347 meters Centerline goodness : 0.924228 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.17, Z:-0.94 [[ 9.99943498e-01 1.04773597e-02 1.79618396e-03 6.62435063e+00] [-1.03898609e-02 9.99009658e-01 -4.32637785e-02 -1.72427021e-01] [-2.24769530e-03 4.32426719e-02 9.99062070e-01 -9.41484594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71719347 meters Centerline goodness : 0.926344 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99935394e-01 1.11550096e-02 2.18475145e-03 6.62249331e+00] [-1.10561300e-02 9.99098642e-01 -4.09837182e-02 -1.79107898e-01] [-2.63995597e-03 4.09569155e-02 9.99157426e-01 -9.39557906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74719346999999 meters Centerline goodness : 0.925288 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99964018e-01 8.16476924e-03 2.30219773e-03 6.62203763e+00] [-8.05566780e-03 9.99000341e-01 -4.39707313e-02 -1.80682165e-01] [-2.65890719e-03 4.39506034e-02 9.99030167e-01 -9.39236748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77719346999999 meters Centerline goodness : 0.922735 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99959869e-01 8.70441209e-03 2.11997173e-03 6.62238502e+00] [-8.60565298e-03 9.99045379e-01 -4.28284282e-02 -1.83377904e-01] [-2.49074425e-03 4.28084657e-02 9.99080193e-01 -9.39227534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807193469999994 meters Centerline goodness : 0.924979 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.18, Z:-0.94 [[ 9.99957925e-01 8.96673163e-03 1.93537716e-03 6.62329752e+00] [-8.87706585e-03 9.99069289e-01 -4.22108171e-02 -1.84722823e-01] [-2.31206895e-03 4.21918606e-02 9.99106852e-01 -9.39913629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837193469999995 meters Centerline goodness : 0.925483 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.19, Z:-0.94 [[ 9.99949107e-01 9.92941989e-03 1.78595070e-03 6.62477168e+00] [-9.84838973e-03 9.99120385e-01 -4.07610898e-02 -1.86747503e-01] [-2.18911373e-03 4.07414266e-02 9.99167325e-01 -9.41383750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86719347 meters Centerline goodness : 0.921455 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99945710e-01 1.03008411e-02 1.57179631e-03 6.62575227e+00] [-1.02296970e-02 9.99146421e-01 -4.00222827e-02 -1.88237596e-01] [-1.98271783e-03 4.00040309e-02 9.99197551e-01 -9.42102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89719347 meters Centerline goodness : 0.921455 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99945710e-01 1.03008411e-02 1.57179631e-03 6.62575227e+00] [-1.02296970e-02 9.99146421e-01 -4.00222827e-02 -1.88237596e-01] [-1.98271783e-03 4.00040309e-02 9.99197551e-01 -9.42102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92719346999999 meters Centerline goodness : 0.923030 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99942262e-01 1.06588051e-02 1.36462335e-03 6.62640891e+00] [-1.05973105e-02 9.99179107e-01 -3.90999816e-02 -1.90668708e-01] [-1.78026223e-03 3.90832628e-02 9.99234372e-01 -9.42454869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95719346999999 meters Centerline goodness : 0.924716 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.19, Z:-0.94 [[ 9.99978121e-01 6.59865918e-03 4.64527133e-04 6.62658347e+00] [-6.58362007e-03 9.99609871e-01 -2.71433584e-02 -1.94925586e-01] [-6.43455679e-04 2.71397063e-02 9.99631443e-01 -9.42808990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987193469999994 meters Centerline goodness : 0.921707 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.20, Z:-0.94 [[ 9.99993460e-01 3.61604151e-03 6.85613450e-05 6.62844874e+00] [-3.61260357e-03 9.99584754e-01 -2.85879023e-02 -2.01660163e-01] [-1.71907917e-04 2.85874676e-02 9.99591280e-01 -9.44254162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017193469999995 meters Centerline goodness : 0.923495 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.21, Z:-0.94 [[ 9.99999287e-01 -9.54282060e-04 7.18555092e-04 6.62906567e+00] [ 9.65213037e-04 9.99881425e-01 -1.53689568e-02 -2.08363535e-01] [-7.03803570e-04 1.53696394e-02 9.99881632e-01 -9.44509075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047193469999996 meters Centerline goodness : 0.923261 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.21, Z:-0.94 [[ 9.99990022e-01 -4.43836218e-03 5.05926715e-04 6.62988662e+00] [ 4.44680913e-03 9.99825599e-01 -1.81382796e-02 -2.11687061e-01] [-4.25334227e-04 1.81403484e-02 9.99835360e-01 -9.44896293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07719347 meters Centerline goodness : 0.924271 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.22, Z:-0.94 [[ 9.99970219e-01 -7.71559376e-03 1.74464338e-04 6.63048302e+00] [ 7.71752776e-03 9.99780883e-01 -1.94583168e-02 -2.18936574e-01] [-2.42936424e-05 1.94590838e-02 9.99810654e-01 -9.44439184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10719346999999 meters Centerline goodness : 0.926963 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.22, Z:-0.94 [[ 9.99970486e-01 -7.68288214e-03 -2.20134981e-05 6.63068588e+00] [ 7.68120850e-03 9.99804808e-01 -1.82028775e-02 -2.22417261e-01] [ 1.61859764e-04 1.82021712e-02 9.99834314e-01 -9.43948318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13719346999999 meters Centerline goodness : 0.924514 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.23, Z:-0.94 [[ 9.99970391e-01 -7.69014956e-03 -2.80786162e-04 6.63102287e+00] [ 7.68425750e-03 9.99825637e-01 -1.70190322e-02 -2.25853196e-01] [ 4.11616106e-04 1.70163706e-02 9.99855126e-01 -9.43407450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167193469999994 meters Centerline goodness : 0.927913 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.23, Z:-0.94 [[ 9.99969626e-01 -7.75497503e-03 -7.79242855e-04 6.63167619e+00] [ 7.74165833e-03 9.99844511e-01 -1.58436232e-02 -2.29919751e-01] [ 9.01988594e-04 1.58371093e-02 9.99874178e-01 -9.42666797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197193469999995 meters Centerline goodness : 0.925765 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99935381e-01 -1.13310434e-02 -9.17174966e-04 6.63155877e+00] [ 1.13129098e-02 9.99777269e-01 -1.78165615e-02 -2.37293621e-01] [ 1.11885091e-03 1.78050343e-02 9.99840852e-01 -9.41616688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227193469999996 meters Centerline goodness : 0.929547 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99913809e-01 -1.30381725e-02 -1.54289070e-03 6.63370862e+00] [ 1.30064446e-02 9.99734060e-01 -1.90431483e-02 -2.38457220e-01] [ 1.79076823e-03 1.90214394e-02 9.99817472e-01 -9.42551204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25719347 meters Centerline goodness : 0.932656 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99910950e-01 -1.32131122e-02 -1.87252200e-03 6.63403812e+00] [ 1.31760323e-02 9.99740258e-01 -1.85959139e-02 -2.39225444e-01] [ 2.11774553e-03 1.85695855e-02 9.99825328e-01 -9.41889756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28719347 meters Centerline goodness : 0.931880 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.24, Z:-0.94 [[ 9.99905514e-01 -1.35614031e-02 -2.24758687e-03 6.63457762e+00] [ 1.35181510e-02 9.99741971e-01 -1.82551765e-02 -2.40376974e-01] [ 2.49457273e-03 1.82230685e-02 9.99830834e-01 -9.41413884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31719346999999 meters Centerline goodness : 0.930143 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.94 [[ 9.99844059e-01 -1.74756812e-02 -2.54125791e-03 6.63514797e+00] [ 1.74170610e-02 9.99617065e-01 -2.15027760e-02 -2.43284168e-01] [ 2.91606043e-03 2.14551616e-02 9.99765559e-01 -9.41077521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34719346999999 meters Centerline goodness : 0.930332 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.94 [[ 9.99838621e-01 -1.77192667e-02 -2.95961998e-03 6.63671335e+00] [ 1.76518780e-02 9.99614624e-01 -2.14246119e-02 -2.44114674e-01] [ 3.33810783e-03 2.13689116e-02 9.99766086e-01 -9.42074799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377193469999995 meters Centerline goodness : 0.926718 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.95 [[ 9.99863651e-01 -1.60519348e-02 -3.87478759e-03 6.64121413e+00] [ 1.59735752e-02 9.99682812e-01 -1.94710285e-02 -2.42181598e-01] [ 4.18610623e-03 1.94064794e-02 9.99802913e-01 -9.45834621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407193469999996 meters Centerline goodness : 0.924315 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.24, Z:-0.95 [[ 9.99890562e-01 -1.39992570e-02 -4.78377508e-03 6.64441052e+00] [ 1.39167512e-02 9.99760908e-01 -1.68656865e-02 -2.41816997e-01] [ 5.01873839e-03 1.67972662e-02 9.99846320e-01 -9.47535230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43719347 meters Centerline goodness : 0.919654 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.24, Z:-0.95 [[ 9.99887147e-01 -1.40818014e-02 -5.23416023e-03 6.64551206e+00] [ 1.39910209e-02 9.99757704e-01 -1.69936489e-02 -2.41001687e-01] [ 5.47219320e-03 1.69184999e-02 9.99841897e-01 -9.47792375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46719347 meters Centerline goodness : 0.920907 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.24, Z:-0.95 [[ 9.99927128e-01 -1.13226019e-02 -4.18784983e-03 6.66453135e+00] [ 1.12523912e-02 9.99801779e-01 -1.64251974e-02 -2.41543443e-01] [ 4.37299568e-03 1.63768772e-02 9.99856327e-01 -9.47845636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49719346999999 meters Centerline goodness : 0.926234 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.24, Z:-0.95 [[ 9.99960902e-01 -8.60286879e-03 2.04560596e-03 6.67592634e+00] [ 8.64283884e-03 9.99754394e-01 -2.04071798e-02 -2.39215492e-01] [-1.86954325e-03 2.04240618e-02 9.99789659e-01 -9.48730280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52719346999999 meters Centerline goodness : 0.925602 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.24, Z:-0.95 [[ 9.99978933e-01 -6.36737823e-03 1.26098022e-03 6.67803980e+00] [ 6.38866265e-03 9.99823580e-01 -1.76633743e-02 -2.39090527e-01] [-1.14828837e-03 1.76710581e-02 9.99843195e-01 -9.49221129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557193469999994 meters Centerline goodness : 0.923298 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.24, Z:-0.95 [[ 9.99992745e-01 -3.72823421e-03 7.80993231e-04 6.69839841e+00] [ 3.74076154e-03 9.99853464e-01 -1.67050324e-02 -2.39561579e-01] [-7.18598513e-04 1.67078327e-02 9.99860156e-01 -9.49494562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587193469999995 meters Centerline goodness : 0.920600 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.24, Z:-0.95 [[ 9.99997209e-01 -2.34462426e-03 -2.91686577e-04 6.70252579e+00] [ 2.33980184e-03 9.99876196e-01 -1.55601288e-02 -2.38769302e-01] [ 3.28133121e-04 1.55594029e-02 9.99878891e-01 -9.52242378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61719347 meters Centerline goodness : 0.918403 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.24, Z:-0.95 [[ 9.99996341e-01 1.37373371e-03 -2.33036102e-03 6.72451857e+00] [-1.40843668e-03 9.99887161e-01 -1.49559806e-02 -2.38039634e-01] [ 2.30955253e-03 1.49592081e-02 9.99885437e-01 -9.54203535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64719347 meters Centerline goodness : 0.916540 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.24, Z:-0.96 [[ 9.99986102e-01 4.47028947e-03 -2.79506575e-03 6.72659095e+00] [-4.50395695e-03 9.99915953e-01 -1.21573539e-02 -2.35951392e-01] [ 2.74048394e-03 1.21697738e-02 9.99922190e-01 -9.55447085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67719346999999 meters Centerline goodness : 0.914975 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.23, Z:-0.96 [[ 9.99883496e-01 1.46476371e-02 -4.29429439e-03 6.75488309e+00] [-1.47231885e-02 9.99727336e-01 -1.81240400e-02 -2.30779036e-01] [ 4.02764913e-03 1.81851542e-02 9.99826524e-01 -9.56325955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70719346999999 meters Centerline goodness : 0.912883 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.23, Z:-0.96 [[ 9.99831574e-01 1.83524974e-02 9.71702143e-05 6.76847533e+00] [-1.83446425e-02 9.99533034e-01 -2.44374153e-02 -2.27050758e-01] [-5.45612439e-04 2.44315168e-02 9.99701357e-01 -9.60876578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737193469999994 meters Centerline goodness : 0.907659 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.22, Z:-0.96 [[ 9.99784711e-01 2.03366083e-02 4.11743340e-03 6.77623610e+00] [-2.01708902e-02 9.99114331e-01 -3.69281613e-02 -2.22118452e-01] [-4.86478027e-03 3.68371588e-02 9.99309440e-01 -9.62012956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767193469999995 meters Centerline goodness : 0.911331 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.21, Z:-0.96 [[ 9.99598671e-01 2.81846438e-02 2.85014222e-03 6.78859437e+00] [-2.79352617e-02 9.97428402e-01 -6.60015432e-02 -2.14068343e-01] [-4.70304278e-03 6.58954354e-02 9.97815450e-01 -9.57395211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797193469999996 meters Centerline goodness : 0.909678 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99474928e-01 3.22962109e-02 2.61217816e-03 6.78870059e+00] [-3.20748665e-02 9.97594868e-01 -6.14465748e-02 -2.15287273e-01] [-4.59038706e-03 6.13305256e-02 9.98106956e-01 -9.56494117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82719347 meters Centerline goodness : 0.911183 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99356585e-01 3.57905801e-02 2.33450709e-03 6.78949190e+00] [-3.55984671e-02 9.97725742e-01 -5.72371616e-02 -2.16430811e-01] [-4.37774904e-03 5.71172295e-02 9.98357880e-01 -9.56618852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85719346999999 meters Centerline goodness : 0.909683 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99239742e-01 3.89164124e-02 2.33463465e-03 6.78970953e+00] [-3.87374803e-02 9.97834430e-01 -5.31587940e-02 -2.17714554e-01] [-4.39832838e-03 5.30279418e-02 9.98583343e-01 -9.56476118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88719346999999 meters Centerline goodness : 0.910739 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.22, Z:-0.96 [[ 9.99099036e-01 4.23453400e-02 2.82638898e-03 6.78831023e+00] [-4.21620292e-02 9.97965759e-01 -4.78195363e-02 -2.21892762e-01] [-4.84557394e-03 4.76572863e-02 9.98851993e-01 -9.55418614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917193469999994 meters Centerline goodness : 0.911051 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.23, Z:-0.96 [[ 9.99084725e-01 4.27290533e-02 1.98488193e-03 6.78963963e+00] [-4.25891363e-02 9.97991551e-01 -4.68938014e-02 -2.25294893e-01] [-3.98462313e-03 4.67663463e-02 9.98897909e-01 -9.55295968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947193469999995 meters Centerline goodness : 0.912022 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.23, Z:-0.95 [[ 9.99238022e-01 3.88622247e-02 -3.61975075e-03 6.78575933e+00] [-3.89678261e-02 9.98586465e-01 -3.61466580e-02 -2.30944129e-01] [ 2.20989456e-03 3.62601689e-02 9.99339940e-01 -9.50656452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977193469999996 meters Centerline goodness : 0.914019 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.24, Z:-0.95 [[ 9.99332275e-01 3.62941903e-02 -4.21136605e-03 6.78502615e+00] [-3.64261867e-02 9.98640651e-01 -3.72824736e-02 -2.38110770e-01] [ 2.85250414e-03 3.74109832e-02 9.99295893e-01 -9.48848988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00719347 meters Centerline goodness : 0.913790 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.24, Z:-0.95 [[ 9.99331336e-01 3.63592711e-02 -3.85807060e-03 6.78373626e+00] [-3.64733860e-02 9.98705392e-01 -3.54574729e-02 -2.42392597e-01] [ 2.56386804e-03 3.55744807e-02 9.99363739e-01 -9.48178536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03719347 meters Centerline goodness : 0.917041 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.25, Z:-0.95 [[ 9.99345010e-01 3.59629543e-02 -4.02699870e-03 6.78374078e+00] [-3.60786063e-02 9.98778598e-01 -3.37586398e-02 -2.46827594e-01] [ 2.80801969e-03 3.38818168e-02 9.99421902e-01 -9.48148478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06719346999999 meters Centerline goodness : 0.918295 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.25, Z:-0.95 [[ 9.99390286e-01 3.46230458e-02 -4.50576531e-03 6.78513810e+00] [-3.47536552e-02 9.98845869e-01 -3.31528903e-02 -2.51252772e-01] [ 3.35271103e-03 3.32892683e-02 9.99440135e-01 -9.49435659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09719346999999 meters Centerline goodness : 0.919154 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.26, Z:-0.95 [[ 9.99559042e-01 2.92359125e-02 -5.19453350e-03 6.78590423e+00] [-2.94035361e-02 9.98925597e-01 -3.58201648e-02 -2.61200687e-01] [ 4.14171727e-03 3.59571072e-02 9.99344752e-01 -9.50350204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127193469999995 meters Centerline goodness : 0.918070 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.27, Z:-0.95 [[ 9.99657197e-01 2.55335735e-02 -5.79000722e-03 6.78764037e+00] [-2.57376387e-02 9.98929311e-01 -3.84422296e-02 -2.66025781e-01] [ 4.80224042e-03 3.85780727e-02 9.99244050e-01 -9.51381841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157193469999996 meters Centerline goodness : 0.918392 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.27, Z:-0.95 [[ 9.99739580e-01 2.18794930e-02 -6.48537889e-03 6.79055154e+00] [-2.21275674e-02 9.98912843e-01 -4.10305045e-02 -2.70343964e-01] [ 5.58060163e-03 4.11633250e-02 9.99136846e-01 -9.53525374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18719347 meters Centerline goodness : 0.915037 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.28, Z:-0.96 [[ 0.99987919 0.01326692 -0.00809958 6.79626845] [-0.01351644 0.99941014 -0.03157024 -0.28017365] [ 0.00767596 0.03167591 0.99946872 -0.95654087] [ 0. 0. 0. 1. ]] SLAMing on 63.21719347 meters Centerline goodness : 0.916289 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.28, Z:-0.96 [[ 0.99989641 0.011499 -0.00865641 6.79878991] [-0.01177249 0.99941098 -0.03223517 -0.28349332] [ 0.00828064 0.03233374 0.99944282 -0.95809858] [ 0. 0. 0. 1. ]] SLAMing on 63.24719346999999 meters Centerline goodness : 0.916359 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.29, Z:-0.96 [[ 0.99989948 0.01070401 -0.0092979 6.80040736] [-0.01099536 0.99943153 -0.03187029 -0.28636727] [ 0.00895147 0.03196932 0.99944876 -0.95834366] [ 0. 0. 0. 1. ]] SLAMing on 63.27719346999999 meters Centerline goodness : 0.921338 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.29, Z:-0.95 [[ 0.9999068 0.00854545 -0.01064705 6.80279451] [-0.00882988 0.99959751 -0.02696001 -0.29258403] [ 0.01041238 0.02705151 0.99957981 -0.95191252] [ 0. 0. 0. 1. ]] SLAMing on 63.307193469999994 meters Centerline goodness : 0.922248 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.30, Z:-0.95 [[ 9.99956816e-01 5.07709031e-03 -7.78394850e-03 6.81058644e+00] [-5.23701718e-03 9.99772742e-01 -2.06649019e-02 -2.95588884e-01] [ 7.67726196e-03 2.07047742e-02 9.99756156e-01 -9.50667559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337193469999995 meters Centerline goodness : 0.922248 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.30, Z:-0.95 [[ 9.99956727e-01 3.95746471e-03 -8.41919735e-03 6.81224338e+00] [-4.13301338e-03 9.99772258e-01 -2.09368061e-02 -2.97480677e-01] [ 8.33442327e-03 2.09706968e-02 9.99745351e-01 -9.50958445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36719347 meters Centerline goodness : 0.924259 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.30, Z:-0.95 [[ 9.99955576e-01 3.31994723e-03 -8.82181557e-03 6.81363566e+00] [-3.50364912e-03 9.99775633e-01 -2.08903860e-02 -2.98692947e-01] [ 8.75048127e-03 2.09203665e-02 9.99742851e-01 -9.51571220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39719347 meters Centerline goodness : 0.920943 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.30, Z:-0.95 [[ 9.99953725e-01 1.64788790e-03 -9.47798098e-03 6.81680655e+00] [-1.85659941e-03 9.99755053e-01 -2.20541959e-02 -2.98844614e-01] [ 9.43931653e-03 2.20707722e-02 9.99711849e-01 -9.53833003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42719346999999 meters Centerline goodness : 0.921658 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.30, Z:-0.96 [[ 9.99986092e-01 5.43417212e-04 -5.24596103e-03 6.82734697e+00] [-6.19784787e-04 9.99893707e-01 -1.45667718e-02 -2.99077845e-01] [ 5.23748759e-03 1.45698205e-02 9.99880137e-01 -9.56140639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45719346999999 meters Centerline goodness : 0.922724 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.30, Z:-0.96 [[ 9.99985677e-01 7.07917428e-04 -5.30517898e-03 6.82731089e+00] [-7.86525902e-04 9.99889722e-01 -1.48299005e-02 -2.97360555e-01] [ 5.29409559e-03 1.48338607e-02 9.99875957e-01 -9.55718934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487193469999994 meters Centerline goodness : 0.923306 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.30, Z:-0.96 [[ 9.99975999e-01 4.02721762e-03 -5.63762251e-03 6.82795449e+00] [-4.09082519e-03 9.99927593e-01 -1.13170033e-02 -2.96507352e-01] [ 5.59163827e-03 1.13397942e-02 9.99920068e-01 -9.55290581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517193469999995 meters Centerline goodness : 0.923145 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.29, Z:-0.96 [[ 9.99956151e-01 7.36087358e-03 -5.78904267e-03 6.82845625e+00] [-7.41042331e-03 9.99935691e-01 -8.58486792e-03 -2.92599184e-01] [ 5.72547825e-03 8.62739074e-03 9.99946392e-01 -9.55033888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547193469999996 meters Centerline goodness : 0.922568 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.29, Z:-0.96 [[ 9.99938505e-01 8.94838017e-03 -6.55080816e-03 6.83149310e+00] [-8.99532743e-03 9.99933817e-01 -7.17260001e-03 -2.91723998e-01] [ 6.48619145e-03 7.23108560e-03 9.99952819e-01 -9.56843966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57719347 meters Centerline goodness : 0.921833 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.29, Z:-0.96 [[ 9.99911261e-01 1.11814173e-02 -7.24194168e-03 6.83431214e+00] [-1.12180101e-02 9.99924414e-01 -5.03215247e-03 -2.91405069e-01] [ 7.18512769e-03 5.11294609e-03 9.99961115e-01 -9.58484121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60719346999999 meters Centerline goodness : 0.921798 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.29, Z:-0.96 [[ 9.99881812e-01 1.51021885e-02 -2.87856797e-03 6.84788765e+00] [-1.51347544e-02 9.99817606e-01 -1.16487607e-02 -2.86353374e-01] [ 2.70212115e-03 1.16909503e-02 9.99928008e-01 -9.62711190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63719346999999 meters Centerline goodness : 0.922023 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.28, Z:-0.96 [[ 9.99831146e-01 1.80708548e-02 -3.33511314e-03 6.84998503e+00] [-1.81002837e-02 9.99795530e-01 -9.01545445e-03 -2.83857483e-01] [ 3.17151424e-03 9.07429865e-03 9.99953798e-01 -9.63908290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667193469999994 meters Centerline goodness : 0.921405 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.28, Z:-0.97 [[ 9.99770855e-01 2.10667298e-02 -3.79876995e-03 6.85225675e+00] [-2.10908883e-02 9.99756848e-01 -6.43576210e-03 -2.80926549e-01] [ 3.66226581e-03 6.51440681e-03 9.99972075e-01 -9.65398864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697193469999995 meters Centerline goodness : 0.917995 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.28, Z:-0.97 [[ 9.99700672e-01 2.40987525e-02 -4.22088858e-03 6.85442759e+00] [-2.41152726e-02 9.99701547e-01 -3.90772055e-03 -2.78060638e-01] [ 4.12545765e-03 4.00833874e-03 9.99983457e-01 -9.66777841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727193469999996 meters Centerline goodness : 0.915819 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.27, Z:-0.97 [[ 9.99600683e-01 2.78453387e-02 -4.80737444e-03 6.85657738e+00] [-2.78526386e-02 9.99610976e-01 -1.45824486e-03 -2.74603026e-01] [ 4.76489894e-03 1.59156062e-03 9.99987381e-01 -9.67932764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75719347 meters Centerline goodness : 0.912993 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99602513e-01 2.81787226e-02 -8.80948177e-04 6.86923416e+00] [-2.81871496e-02 9.99533296e-01 -1.17760406e-02 -2.72476581e-01] [ 5.48703254e-04 1.17961912e-02 9.99930272e-01 -9.72205040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78719347 meters Centerline goodness : 0.912993 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99602513e-01 2.81787226e-02 -8.80948177e-04 6.86923416e+00] [-2.81871496e-02 9.99533296e-01 -1.17760406e-02 -2.72476581e-01] [ 5.48703254e-04 1.17961912e-02 9.99930272e-01 -9.72205040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81719346999999 meters Centerline goodness : 0.914514 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99698578e-01 2.45198878e-02 -1.23587863e-03 6.86975701e+00] [-2.45366940e-02 9.99567856e-01 -1.61880130e-02 -2.71037420e-01] [ 8.38416294e-04 1.62134579e-02 9.99868202e-01 -9.72218415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84719346999999 meters Centerline goodness : 0.916185 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:-0.97 [[ 9.99712252e-01 2.39342498e-02 -1.60124508e-03 6.87069546e+00] [-2.39576952e-02 9.99573210e-01 -1.67160834e-02 -2.70732542e-01] [ 1.20047476e-03 1.67496355e-02 9.99858994e-01 -9.72332764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877193469999995 meters Centerline goodness : 0.915960 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99834519e-01 1.81873243e-02 -3.94355493e-04 6.88928073e+00] [-1.81900736e-02 9.99796480e-01 -8.72468320e-03 -2.68162421e-01] [ 2.35596591e-04 8.73041279e-03 9.99961861e-01 -9.73448810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907193469999996 meters Centerline goodness : 0.916237 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99843245e-01 1.76902924e-02 -7.34267975e-04 6.89025668e+00] [-1.76962205e-02 9.99802392e-01 -9.05650922e-03 -2.67864464e-01] [ 5.73910582e-04 9.06808334e-03 9.99958719e-01 -9.73741735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93719347 meters Centerline goodness : 0.918002 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99897832e-01 1.42715877e-02 -8.04994848e-04 6.88984331e+00] [-1.42805498e-02 9.99819671e-01 -1.25176165e-02 -2.69048835e-01] [ 6.26203424e-04 1.25278333e-02 9.99921328e-01 -9.72784867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96719347 meters Centerline goodness : 0.918982 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99900405e-01 1.40791729e-02 -9.78370225e-04 6.89013798e+00] [-1.40902028e-02 9.99824223e-01 -1.23688554e-02 -2.70453875e-01] [ 8.04054997e-04 1.23814090e-02 9.99923024e-01 -9.72426749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99719346999999 meters Centerline goodness : 0.918677 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99896605e-01 1.43319779e-02 -1.17207841e-03 6.89050517e+00] [-1.43449398e-02 9.99826046e-01 -1.19206103e-02 -2.71340466e-01] [ 1.00102860e-03 1.19361912e-02 9.99928260e-01 -9.72178592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02719347 meters Centerline goodness : 0.918263 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.27, Z:-0.97 [[ 9.99895243e-01 1.44096444e-02 -1.36581794e-03 6.89119958e+00] [-1.44245347e-02 9.99828627e-01 -1.16038240e-02 -2.71989598e-01] [ 1.19837690e-03 1.16223097e-02 9.99931741e-01 -9.72459631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05719347 meters Centerline goodness : 0.917021 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.28, Z:-0.97 [[ 9.99916062e-01 1.28334213e-02 -1.78121290e-03 6.89295311e+00] [-1.28545659e-02 9.99840291e-01 -1.24158296e-02 -2.75738589e-01] [ 1.62159085e-03 1.24376842e-02 9.99921334e-01 -9.73438744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08719347 meters Centerline goodness : 0.913720 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.97 [[ 9.99931405e-01 1.14830108e-02 -2.30781962e-03 6.89524160e+00] [-1.15122046e-02 9.99848415e-01 -1.30619828e-02 -2.78237553e-01] [ 2.15747890e-03 1.30876549e-02 9.99912025e-01 -9.74807070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11719347 meters Centerline goodness : 0.915313 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.98 [[ 9.99942768e-01 1.03336786e-02 -2.77068283e-03 6.89701895e+00] [-1.03697155e-02 9.99857461e-01 -1.33239134e-02 -2.80589209e-01] [ 2.63260286e-03 1.33518820e-02 9.99907394e-01 -9.75702316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14719347 meters Centerline goodness : 0.913202 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.98 [[ 9.99955807e-01 8.99982627e-03 -2.71789452e-03 6.89756708e+00] [-9.03606006e-03 9.99866314e-01 -1.36273146e-02 -2.83163568e-01] [ 2.59488771e-03 1.36512714e-02 9.99903450e-01 -9.75989474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17719347 meters Centerline goodness : 0.912414 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.28, Z:-0.98 [[ 9.99983735e-01 4.87853851e-03 -2.95465505e-03 6.89804107e+00] [-4.92856481e-03 9.99840478e-01 -1.71676111e-02 -2.84751417e-01] [ 2.87043086e-03 1.71818941e-02 9.99848260e-01 -9.75873938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20719347 meters Centerline goodness : 0.911417 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99988546e-01 -3.56372884e-03 -3.19487816e-03 6.89905497e+00] [ 3.48315523e-03 9.99684376e-01 -2.48800432e-02 -2.86534631e-01] [ 3.28253551e-03 2.48686299e-02 9.99685339e-01 -9.76324252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23719347000001 meters Centerline goodness : 0.907377 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99980514e-01 -4.97547163e-03 -3.77046802e-03 6.90097626e+00] [ 4.87758219e-03 9.99661872e-01 -2.55411637e-02 -2.87783755e-01] [ 3.89627246e-03 2.55222752e-02 9.99666661e-01 -9.77033020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26719347 meters Centerline goodness : 0.909059 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99972282e-01 -6.23580632e-03 -4.06815912e-03 6.90195231e+00] [ 6.12639117e-03 9.99633341e-01 -2.63752083e-02 -2.87542890e-01] [ 4.23113818e-03 2.63495541e-02 9.99643836e-01 -9.76949302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29719347 meters Centerline goodness : 0.907884 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.29, Z:-0.98 [[ 9.99982880e-01 -3.61621477e-03 -4.60031364e-03 6.90395461e+00] [ 3.50739627e-03 9.99718936e-01 -2.34466972e-02 -2.87237935e-01] [ 4.68380894e-03 2.34301607e-02 9.99714504e-01 -9.78006123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32719347 meters Centerline goodness : 0.906619 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.29, Z:-0.98 [[ 9.99983393e-01 -2.10417148e-03 -5.36531029e-03 6.90732686e+00] [ 1.98654859e-03 9.99759620e-01 -2.18347263e-02 -2.85566293e-01] [ 5.40996459e-03 2.18237053e-02 9.99747197e-01 -9.80159575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35719347 meters Centerline goodness : 0.903474 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.28, Z:-0.98 [[ 9.99979845e-01 -7.30187774e-04 -6.30687958e-03 6.91185959e+00] [ 5.98080067e-04 9.99780908e-01 -2.09231494e-02 -2.80419312e-01] [ 6.32077562e-03 2.09189556e-02 9.99761194e-01 -9.83450244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38719347 meters Centerline goodness : 0.899246 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.99 [[ 9.99975485e-01 3.38155224e-04 -6.99396176e-03 6.91526546e+00] [-4.75749563e-04 9.99806197e-01 -1.96810072e-02 -2.78981412e-01] [ 6.98595108e-03 1.96838521e-02 9.99781847e-01 -9.85792504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41719347 meters Centerline goodness : 0.899136 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.28, Z:-0.99 [[ 9.99972162e-01 -5.98014076e-04 -7.43763935e-03 6.91697431e+00] [ 4.42286004e-04 9.99781016e-01 -2.09218842e-02 -2.76398680e-01] [ 7.44852220e-03 2.09180122e-02 9.99753448e-01 -9.86810086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44719347 meters Centerline goodness : 0.897876 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.27, Z:-0.99 [[ 9.99965708e-01 -2.45691469e-03 -7.90859540e-03 6.91905669e+00] [ 2.27054204e-03 9.99721513e-01 -2.34891638e-02 -2.69843381e-01] [ 7.96410384e-03 2.34704015e-02 9.99692809e-01 -9.87959852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47719347 meters Centerline goodness : 0.895675 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.27, Z:-0.99 [[ 9.99963278e-01 -9.86264659e-04 -8.51291497e-03 6.92152184e+00] [ 8.00831954e-04 9.99762935e-01 -2.17585051e-02 -2.67604283e-01] [ 8.53235650e-03 2.17508887e-02 9.99727012e-01 -9.89123113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50719347 meters Centerline goodness : 0.897517 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.27, Z:-0.99 [[ 9.99958308e-01 9.39065569e-05 -9.13092762e-03 6.92366137e+00] [-2.80592640e-04 9.99790912e-01 -2.04463365e-02 -2.65123029e-01] [ 9.12709841e-03 2.04480461e-02 9.99749255e-01 -9.89765231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53719347 meters Centerline goodness : 0.896395 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.26, Z:-0.99 [[ 9.99952432e-01 2.79265784e-03 -9.34534413e-03 6.92407266e+00] [-2.95745815e-03 9.99839546e-01 -1.76673769e-02 -2.63210176e-01] [ 9.29450569e-03 1.76941749e-02 9.99800244e-01 -9.89276910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56719347 meters Centerline goodness : 0.902719 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.25, Z:-0.99 [[ 9.99944669e-01 4.39304024e-03 -9.55820926e-03 6.92509474e+00] [-4.56131026e-03 9.99833738e-01 -1.76547747e-02 -2.54077072e-01] [ 9.47906195e-03 1.76973959e-02 9.99798454e-01 -9.89269128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59719347000001 meters Centerline goodness : 0.900220 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.25, Z:-0.99 [[ 9.99926587e-01 6.79023515e-03 -1.00356515e-02 6.92688667e+00] [-6.95075228e-03 9.99847074e-01 -1.60473145e-02 -2.48630518e-01] [ 9.92515177e-03 1.61158918e-02 9.99820869e-01 -9.90063373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62719347000001 meters Centerline goodness : 0.897562 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.24, Z:-0.99 [[ 0.99990131 0.00928065 -0.010547 6.92863843] [-0.00943242 0.99985136 -0.01443198 -0.24307239] [ 0.0104115 0.01453004 0.99984023 -0.99069345] [ 0. 0. 0. 1. ]] SLAMing on 64.65719347 meters Centerline goodness : 0.897395 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.23, Z:-0.99 [[ 9.99904606e-01 1.23859371e-02 -6.11283148e-03 6.94201586e+00] [-1.25106502e-02 9.99705301e-01 -2.08037431e-02 -2.31506301e-01] [ 5.85335617e-03 2.08782341e-02 9.99764891e-01 -9.93304467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68719347 meters Centerline goodness : 0.897314 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.23, Z:-0.99 [[ 9.99870387e-01 1.46857297e-02 -6.59838868e-03 6.94392096e+00] [-1.48104860e-02 9.99704542e-01 -1.92737478e-02 -2.27183920e-01] [ 6.31339009e-03 1.93689750e-02 9.99792470e-01 -9.94102477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71719347 meters Centerline goodness : 0.898760 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.22, Z:-1.00 [[ 9.99853865e-01 1.67763139e-02 -3.28698851e-03 6.96058595e+00] [-1.68476473e-02 9.99592779e-01 -2.30311156e-02 -2.20882924e-01] [ 2.89927276e-03 2.30831280e-02 9.99729345e-01 -9.95916930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74719347 meters Centerline goodness : 0.897573 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.21, Z:-1.00 [[ 9.99805360e-01 1.94207658e-02 -3.47500592e-03 6.96208356e+00] [-1.94912439e-02 9.99577768e-01 -2.15494316e-02 -2.14938898e-01] [ 3.05503220e-03 2.16129694e-02 9.99761745e-01 -9.96798764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77719347 meters Centerline goodness : 0.899659 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.20, Z:-1.00 [[ 9.99714786e-01 2.38571556e-02 -1.08745951e-03 6.98106243e+00] [-2.38766095e-02 9.99416320e-01 -2.44321042e-02 -2.01596935e-01] [ 5.03944274e-04 2.44511007e-02 9.99700900e-01 -9.99768123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80719347 meters Centerline goodness : 0.899521 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.20, Z:-1.00 [[ 9.99614123e-01 2.77287520e-02 -1.64985575e-03 6.98247332e+00] [-2.77584089e-02 9.99371530e-01 -2.20457570e-02 -1.97861893e-01] [ 1.03751754e-03 2.20830475e-02 9.99755601e-01 -9.99304033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83719347 meters Centerline goodness : 0.897362 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.19, Z:-1.00 [[ 9.99519721e-01 3.09049203e-02 -2.28303393e-03 6.98462692e+00] [-3.09457222e-02 9.99305343e-01 -2.07651873e-02 -1.93262314e-01] [ 1.63970155e-03 2.08258644e-02 9.99781774e-01 -9.99468979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86719347 meters Centerline goodness : 0.899426 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.18, Z:-1.00 [[ 9.99220168e-01 3.92844762e-02 -3.97320687e-03 6.98848461e+00] [-3.93482519e-02 9.99072283e-01 -1.75010941e-02 -1.83102409e-01] [ 3.28199954e-03 1.76437850e-02 9.99838950e-01 -9.99330894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89719347 meters Centerline goodness : 0.896632 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.18, Z:-1.00 [[ 9.99045579e-01 4.34569268e-02 -4.40763638e-03 6.98984384e+00] [-4.35195572e-02 9.98935734e-01 -1.52789834e-02 -1.78357583e-01] [ 3.73896782e-03 1.54562192e-02 9.99873555e-01 -9.98839239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92719347 meters Centerline goodness : 0.894245 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98858102e-01 4.75314084e-02 -4.82260361e-03 6.99107625e+00] [-4.75892371e-02 9.98786459e-01 -1.26835934e-02 -1.74767197e-01] [ 4.21388213e-03 1.28986141e-02 9.99907930e-01 -9.98371054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95719347 meters Centerline goodness : 0.899003 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98611259e-01 5.24524299e-02 -4.92905777e-03 6.99175648e+00] [-5.24994091e-02 9.98571472e-01 -9.94123592e-03 -1.69293427e-01] [ 4.40057450e-03 1.01862027e-02 9.99938436e-01 -9.97293662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98719347000001 meters Centerline goodness : 0.894675 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98586465e-01 5.29200726e-02 -4.95353994e-03 6.99151812e+00] [-5.29671387e-02 9.98547095e-01 -9.90867873e-03 -1.68311760e-01] [ 4.42197491e-03 1.01570473e-02 9.99938638e-01 -9.96549366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01719347 meters Centerline goodness : 0.894589 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:-1.00 [[ 9.98597083e-01 5.27089980e-02 -5.06236904e-03 6.99156045e+00] [-5.27577362e-02 9.98556950e-01 -1.00319117e-02 -1.68801973e-01] [ 4.52629178e-03 1.02849169e-02 9.99936865e-01 -9.96122824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04719347 meters Centerline goodness : 0.895386 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.17, Z:-1.00 [[ 9.98926565e-01 4.61869739e-02 -3.53280945e-03 7.00875472e+00] [-4.61900803e-02 9.98932346e-01 -8.02773490e-04 -1.72001319e-01] [ 3.49195995e-03 9.65092517e-04 9.99993437e-01 -9.96674471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07719347 meters Centerline goodness : 0.889474 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.17, Z:-1.00 [[ 9.99059755e-01 4.33537244e-02 -2.44646333e-04 7.00274554e+00] [-4.33524841e-02 9.99052615e-01 3.79936870e-03 -1.73470659e-01] [ 4.09131342e-04 -3.78519034e-03 9.99992752e-01 -1.00029710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10719347 meters Centerline goodness : 0.887484 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.17, Z:-1.00 [[ 9.99158653e-01 4.09948936e-02 -1.18542892e-03 7.00608083e+00] [-4.09930614e-02 9.99158259e-01 1.53067904e-03 -1.74644785e-01] [ 1.24718112e-03 -1.48079685e-03 9.99998126e-01 -1.00270807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13719347 meters Centerline goodness : 0.888106 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.00 [[ 9.99274717e-01 3.80349191e-02 -1.83987916e-03 7.00834536e+00] [-3.80373143e-02 9.99275494e-01 -1.28478877e-03 -1.76356445e-01] [ 1.78967932e-03 1.35384100e-03 9.99997482e-01 -1.00455093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16719347 meters Centerline goodness : 0.884904 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.01 [[ 9.99388589e-01 3.48328015e-02 -3.02061516e-03 7.01233271e+00] [-3.48431757e-02 9.99386828e-01 -3.45266754e-03 -1.81330970e-01] [ 2.89849692e-03 3.55580437e-03 9.99989477e-01 -1.00767852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19719347 meters Centerline goodness : 0.880183 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.01 [[ 9.99389354e-01 3.47925660e-02 -3.22443110e-03 7.01314440e+00] [-3.48012463e-02 9.99390670e-01 -2.67617362e-03 -1.83228601e-01] [ 3.12935541e-03 2.78675365e-03 9.99991221e-01 -1.00848231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22719347 meters Centerline goodness : 0.883408 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.18, Z:-1.01 [[ 9.99392321e-01 3.46536866e-02 -3.75631162e-03 7.01449672e+00] [-3.46617526e-02 9.99396886e-01 -2.10390147e-03 -1.84862118e-01] [ 3.68113820e-03 2.23282331e-03 9.99990732e-01 -1.00917182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25719347 meters Centerline goodness : 0.884792 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.01 [[ 9.99527905e-01 3.03883425e-02 -4.52948927e-03 7.01546797e+00] [-3.04099683e-02 9.99526059e-01 -4.78457774e-03 -1.89942985e-01] [ 4.38194717e-03 4.92006059e-03 9.99978296e-01 -1.00908489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28719347 meters Centerline goodness : 0.885012 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.01 [[ 9.99631487e-01 2.67101805e-02 -4.84319566e-03 7.01547289e+00] [-2.67455164e-02 9.99615001e-01 -7.38420481e-03 -1.93871966e-01] [ 4.64409759e-03 7.51101741e-03 9.99961008e-01 -1.00878647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31719347 meters Centerline goodness : 0.880427 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.01 [[ 9.99727515e-01 2.28026472e-02 -4.99357731e-03 7.01535502e+00] [-2.28517203e-02 9.99688839e-01 -1.00011836e-02 -1.97965612e-01] [ 4.76397004e-03 1.01125703e-02 9.99937518e-01 -1.00876641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34719347000001 meters Centerline goodness : 0.882120 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.01 [[ 9.99811413e-01 1.87091073e-02 -5.20643732e-03 7.01579854e+00] [-1.87744567e-02 9.99741814e-01 -1.27993949e-02 -2.01236492e-01] [ 4.96562784e-03 1.28947291e-02 9.99904530e-01 -1.00932566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37719347000001 meters Centerline goodness : 0.880764 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.01 [[ 9.99965187e-01 8.21772020e-03 -1.44709469e-03 7.01931603e+00] [-8.22930652e-03 9.99932587e-01 -8.19145504e-03 -2.04611072e-01] [ 1.37968205e-03 8.20307845e-03 9.99965402e-01 -1.01088901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40719347 meters Centerline goodness : 0.879176 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99980718e-01 5.86571131e-03 -2.03888567e-03 7.02185520e+00] [-5.88545065e-03 9.99934520e-01 -9.81415803e-03 -2.05996179e-01] [ 1.98118515e-03 9.82596856e-03 9.99949761e-01 -1.01245457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43719347 meters Centerline goodness : 0.878275 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99983609e-01 5.19184364e-03 -2.41368946e-03 7.02278358e+00] [-5.21425305e-03 9.99942481e-01 -9.37260829e-03 -2.08448988e-01] [ 2.36488952e-03 9.38504025e-03 9.99953163e-01 -1.01248397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46719347 meters Centerline goodness : 0.872476 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99997113e-01 1.17830428e-04 -2.40000171e-03 7.02270042e+00] [-1.50384865e-04 9.99907930e-01 -1.35686787e-02 -2.09757799e-01] [ 2.39818194e-03 1.35690004e-02 9.99905061e-01 -1.01202305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49719347 meters Centerline goodness : 0.871800 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.01 [[ 9.99996171e-01 -7.17234840e-04 -2.67279870e-03 7.02329600e+00] [ 6.79731583e-04 9.99901679e-01 -1.40060457e-02 -2.09976497e-01] [ 2.68258154e-03 1.40041753e-02 9.99898338e-01 -1.01189566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52719347 meters Centerline goodness : 0.872083 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.21, Z:-1.01 [[ 9.99992650e-01 -3.09001434e-03 2.26960207e-03 7.03222189e+00] [ 3.10488949e-03 9.99973531e-01 -6.58006231e-03 -2.10899360e-01] [-2.24920951e-03 6.58706081e-03 9.99975776e-01 -1.01326476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55719347 meters Centerline goodness : 0.871461 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.21, Z:-1.01 [[ 9.99988452e-01 -4.34855519e-03 2.04607967e-03 7.03286521e+00] [ 4.36455627e-03 9.99959412e-01 -7.88199181e-03 -2.08119393e-01] [-2.01172134e-03 7.89083102e-03 9.99966843e-01 -1.01314414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58719347 meters Centerline goodness : 0.871464 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.21, Z:-1.01 [[ 9.99994577e-01 -2.90564839e-03 1.55029969e-03 7.03534435e+00] [ 2.91552344e-03 9.99975231e-01 -6.40599007e-03 -2.05927488e-01] [-1.53164774e-03 6.41047526e-03 9.99978280e-01 -1.01496532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61719347 meters Centerline goodness : 0.870569 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.20, Z:-1.02 [[ 9.99996992e-01 -2.25930584e-03 9.54632437e-04 7.03836933e+00] [ 2.26508828e-03 9.99978828e-01 -6.10020997e-03 -2.02110903e-01] [-9.40829985e-04 6.10235394e-03 9.99980938e-01 -1.01722261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64719347 meters Centerline goodness : 0.871701 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.19, Z:-1.02 [[ 9.99999042e-01 -1.26871937e-03 5.52877055e-04 7.04087084e+00] [ 1.27219948e-03 9.99979091e-01 -6.34033272e-03 -1.94496696e-01] [-5.44821392e-04 6.34103001e-03 9.99979747e-01 -1.01918076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67719347 meters Centerline goodness : 0.867459 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.19, Z:-1.02 [[ 9.99999780e-01 -6.57610462e-04 8.87181509e-05 7.04340766e+00] [ 6.58161124e-04 9.99979580e-01 -6.35659414e-03 -1.91336931e-01] [-8.45361765e-05 6.35665113e-03 9.99979793e-01 -1.02113431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70719347 meters Centerline goodness : 0.869310 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.19, Z:-1.02 [[ 9.99988251e-01 1.99361445e-03 4.41849439e-03 7.05452394e+00] [-1.93274172e-03 9.99903754e-01 -1.37385184e-02 -1.87359476e-01] [-4.44545844e-03 1.37298172e-02 9.99895860e-01 -1.02438039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73719347000001 meters Centerline goodness : 0.869310 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.19, Z:-1.02 [[ 9.99988251e-01 1.99361445e-03 4.41849439e-03 7.05452394e+00] [-1.93274172e-03 9.99903754e-01 -1.37385184e-02 -1.87359476e-01] [-4.44545844e-03 1.37298172e-02 9.99895860e-01 -1.02438039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76719347 meters Centerline goodness : 0.871701 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.18, Z:-1.03 [[ 9.99978941e-01 3.17265086e-03 5.66136234e-03 7.07381708e+00] [-3.07327623e-03 9.99842554e-01 -1.74763295e-02 -1.75782070e-01] [-5.71591728e-03 1.74585626e-02 9.99831249e-01 -1.02633365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79719347 meters Centerline goodness : 0.868490 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.17, Z:-1.03 [[ 9.99969994e-01 5.66336437e-03 5.28565026e-03 7.07569546e+00] [-5.57894920e-03 9.99858800e-01 -1.58510124e-02 -1.69839182e-01] [-5.37467399e-03 1.58210484e-02 9.99860394e-01 -1.02746862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82719347 meters Centerline goodness : 0.867783 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.16, Z:-1.03 [[ 9.99953046e-01 8.36581508e-03 4.89073118e-03 7.07731265e+00] [-8.29502600e-03 9.99863062e-01 -1.43195308e-02 -1.63638049e-01] [-5.00985600e-03 1.42782897e-02 9.99885509e-01 -1.02816527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85719347 meters Centerline goodness : 0.868733 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.16, Z:-1.03 [[ 9.99929403e-01 1.10242472e-02 4.43330021e-03 7.07915505e+00] [-1.09660583e-02 9.99856112e-01 -1.29422294e-02 -1.57557492e-01] [-4.57534065e-03 1.28926999e-02 9.99906418e-01 -1.02906534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88719347 meters Centerline goodness : 0.863602 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.14, Z:-1.03 [[ 0.99988641 0.01295337 0.00770612 7.09583378] [-0.01281009 0.99974937 -0.01836025 -0.14464437] [-0.00794202 0.01825945 0.99980174 -1.0314537 ] [ 0. 0. 0. 1. ]] SLAMing on 65.91719347 meters Centerline goodness : 0.863963 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.14, Z:-1.03 [[ 0.99984623 0.01569407 0.00782405 7.09597804] [-0.0155655 0.9997471 -0.01623128 -0.14043728] [-0.0080768 0.016107 0.99983765 -1.03136564] [ 0. 0. 0. 1. ]] SLAMing on 65.94719347 meters Centerline goodness : 0.869212 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.13, Z:-1.03 [[ 0.99978805 0.01874576 0.0085115 7.09341754] [-0.01862115 0.9997216 -0.01449077 -0.12811725] [-0.00878077 0.01432921 0.99985878 -1.02829124] [ 0. 0. 0. 1. ]] SLAMing on 65.97719347 meters Centerline goodness : 0.870195 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.12, Z:-1.03 [[ 0.99974022 0.02121483 0.00833169 7.09440651] [-0.02110658 0.99969436 -0.0128724 -0.12247513] [-0.00860223 0.0126932 0.99988244 -1.02861658] [ 0. 0. 0. 1. ]] SLAMing on 66.00719347 meters Centerline goodness : 0.868870 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.11, Z:-1.03 [[ 0.99966935 0.0244521 0.00795481 7.09557163] [-0.02436357 0.99964217 -0.0110427 -0.11243827] [-0.00822199 0.01084524 0.99990739 -1.02854263] [ 0. 0. 0. 1. ]] SLAMing on 66.03719347 meters Centerline goodness : 0.870633 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.11, Z:-1.03 [[ 0.99959562 0.02731937 0.00789018 7.09636323] [-0.02724976 0.99958993 -0.00879916 -0.10874858] [-0.00812733 0.00858059 0.99993016 -1.0289879 ] [ 0. 0. 0. 1. ]] SLAMing on 66.06719347 meters Centerline goodness : 0.870454 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.10, Z:-1.03 [[ 9.99505260e-01 3.04523040e-02 7.86712192e-03 7.09702924e+00] [-3.04035168e-02 9.99518176e-01 -6.24833089e-03 -1.04602335e-01] [-8.05360743e-03 6.00605142e-03 9.99949532e-01 -1.02926909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09719347000001 meters Centerline goodness : 0.869600 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.10, Z:-1.03 [[ 9.99418839e-01 3.32139297e-02 7.66933534e-03 7.09834802e+00] [-3.31817507e-02 9.99440146e-01 -4.28564131e-03 -9.96186518e-02] [-7.80738462e-03 4.02866869e-03 9.99961407e-01 -1.02993656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12719347000001 meters Centerline goodness : 0.864666 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.09, Z:-1.03 [[ 9.99173552e-01 4.06419196e-02 -6.69432833e-04 7.09271059e+00] [-4.06453181e-02 9.99154049e-01 -6.25654775e-03 -8.89413594e-02] [ 4.14588415e-04 6.27858635e-03 9.99980204e-01 -1.02741936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15719347 meters Centerline goodness : 0.867440 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.09, Z:-1.03 [[ 9.99054220e-01 4.34635606e-02 -1.25874884e-03 7.09580233e+00] [-4.34688143e-02 9.99044648e-01 -4.50034435e-03 -8.50902390e-02] [ 1.06194530e-03 4.55080433e-03 9.99989081e-01 -1.02949011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18719347 meters Centerline goodness : 0.864550 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-1.03 [[ 9.98914077e-01 4.65500190e-02 -1.93984848e-03 7.09928484e+00] [-4.65545997e-02 9.98912894e-01 -2.38716564e-03 -8.18770697e-02] [ 1.82661706e-03 2.47488223e-03 9.99995269e-01 -1.03182165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21719347 meters Centerline goodness : 0.864743 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-1.03 [[ 9.98756464e-01 4.97994554e-02 -2.35386077e-03 7.10192473e+00] [-4.97998055e-02 9.98759216e-01 -9.03285962e-05 -7.79269264e-02] [ 2.34644182e-03 2.07438078e-04 9.99997226e-01 -1.03356883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24719347 meters Centerline goodness : 0.865369 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98162159e-01 6.05612423e-02 -2.15428648e-03 7.10368622e+00] [-6.05380018e-02 9.98119914e-01 9.58059339e-03 -7.14952169e-02] [ 2.73044887e-03 -9.43256958e-03 9.99951784e-01 -1.03426414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27719347 meters Centerline goodness : 0.866371 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98114605e-01 6.13385565e-02 -2.19492901e-03 7.10396626e+00] [-6.13161513e-02 9.98076655e-01 9.12796106e-03 -6.74345413e-02] [ 2.75060336e-03 -8.97616664e-03 9.99955930e-01 -1.03404933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30719347 meters Centerline goodness : 0.866119 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98095921e-01 6.16359486e-02 -2.35415809e-03 7.10444036e+00] [-6.16133805e-02 9.98062282e-01 8.68748601e-03 -6.57479665e-02] [ 2.88505784e-03 -8.52589671e-03 9.99959492e-01 -1.03397944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33719347 meters Centerline goodness : 0.867330 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-1.03 [[ 9.98273643e-01 5.86899184e-02 -2.28632347e-03 7.10408754e+00] [-5.86781781e-02 9.98264915e-01 4.90209051e-03 -6.53046328e-02] [ 2.57005980e-03 -4.75947045e-03 9.99985371e-01 -1.03385125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36719347 meters Centerline goodness : 0.865688 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.04 [[ 9.98404104e-01 5.63895865e-02 -3.07566633e-03 7.10671829e+00] [-5.63814144e-02 9.98405700e-01 2.68207298e-03 -6.55762086e-02] [ 3.22200378e-03 -2.50438225e-03 9.99991673e-01 -1.03554354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39719347 meters Centerline goodness : 0.864900 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.07, Z:-1.04 [[ 9.98522627e-01 5.42081255e-02 -3.74727259e-03 7.10924749e+00] [-5.42049285e-02 9.98529381e-01 9.49589869e-04 -6.67591968e-02] [ 3.79323727e-03 -7.45066327e-04 9.99992528e-01 -1.03732829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42719347 meters Centerline goodness : 0.864685 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.07, Z:-1.04 [[ 9.99133710e-01 4.13365397e-02 -4.80835564e-03 7.12585446e+00] [-4.13042423e-02 9.99124600e-01 6.63279396e-03 -7.16484691e-02] [ 5.07832315e-03 -6.42844255e-03 9.99966442e-01 -1.03568413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45719347 meters Centerline goodness : 0.862670 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.08, Z:-1.04 [[ 9.99431008e-01 3.37274780e-02 -3.42425465e-04 7.13488752e+00] [-3.37222130e-02 9.99378870e-01 1.02316052e-02 -7.70081959e-02] [ 6.87299014e-04 -1.02142361e-02 9.99947597e-01 -1.03730404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48719347000001 meters Centerline goodness : 0.863333 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.08, Z:-1.04 [[ 9.99723871e-01 2.33950983e-02 2.20263451e-03 7.15268499e+00] [-2.34280974e-02 9.99591221e-01 1.63864589e-02 -8.25273050e-02] [-1.81837130e-03 -1.64335377e-02 9.99863307e-01 -1.03725824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51719347 meters Centerline goodness : 0.864212 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.09, Z:-1.03 [[ 9.99823714e-01 1.78891596e-02 5.70247710e-03 7.15898899e+00] [-1.80259430e-02 9.99527093e-01 2.49129599e-02 -8.98197423e-02] [-5.25410845e-03 -2.50113606e-02 9.99673360e-01 -1.03488914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54719347 meters Centerline goodness : 0.866226 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99973602e-01 5.20870401e-03 5.06607055e-03 7.15872703e+00] [-5.46375008e-03 9.98647394e-01 5.17061819e-02 -9.99608595e-02] [-4.78989596e-03 -5.17324967e-02 9.98649491e-01 -1.03229402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57719347 meters Centerline goodness : 0.865733 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99987775e-01 1.32389227e-03 4.76410731e-03 7.15949624e+00] [-1.55151438e-03 9.98841489e-01 4.80964996e-02 -9.98612822e-02] [-4.69491346e-03 -4.81033032e-02 9.98831332e-01 -1.03236587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60719347 meters Centerline goodness : 0.861464 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99988480e-01 -1.08618949e-03 4.67544211e-03 7.15852126e+00] [ 8.70299454e-04 9.98944181e-01 4.59321788e-02 -9.94034718e-02] [-4.72039674e-03 -4.59275806e-02 9.98933619e-01 -1.03076806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63719347 meters Centerline goodness : 0.863071 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99974504e-01 -5.04471885e-03 5.05395651e-03 7.15796275e+00] [ 4.82964726e-03 9.99118521e-01 4.16995890e-02 -9.81657093e-02] [-5.25986425e-03 -4.16741170e-02 9.99117411e-01 -1.03038017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66719347 meters Centerline goodness : 0.861182 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99950482e-01 -8.71036520e-03 4.81284833e-03 7.15896906e+00] [ 8.52353834e-03 9.99257910e-01 3.75630062e-02 -9.70104426e-02] [-5.13646426e-03 -3.75201237e-02 9.99282671e-01 -1.03102956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69719347 meters Centerline goodness : 0.862796 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.10, Z:-1.03 [[ 9.99905476e-01 -1.28649698e-02 4.85090188e-03 7.15972029e+00] [ 1.26986679e-02 9.99378565e-01 3.28820412e-02 -9.55236339e-02] [-5.27091382e-03 -3.28173331e-02 9.99447467e-01 -1.03195976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72719347 meters Centerline goodness : 0.863818 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.09, Z:-1.04 [[ 9.99866138e-01 -1.57798981e-02 4.32442022e-03 7.16339538e+00] [ 1.56447920e-02 9.99437211e-01 2.96732565e-02 -9.17463798e-02] [-4.79022745e-03 -2.96016297e-02 9.99550298e-01 -1.03534055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75719347 meters Centerline goodness : 0.858887 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.09, Z:-1.04 [[ 9.99839447e-01 -1.74872395e-02 3.90863552e-03 7.16585149e+00] [ 1.73729352e-02 9.99468614e-01 2.75802540e-02 -8.78274830e-02] [-4.38886104e-03 -2.75079215e-02 9.99611951e-01 -1.03751095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78719347 meters Centerline goodness : 0.852625 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.08, Z:-1.04 [[ 9.99771869e-01 -2.10937037e-02 3.35648561e-03 7.16899901e+00] [ 2.10078312e-02 9.99495067e-01 2.38386641e-02 -8.22292048e-02] [-3.85763652e-03 -2.37627132e-02 9.99710184e-01 -1.04009276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81719347 meters Centerline goodness : 0.853441 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.08, Z:-1.04 [[ 9.99673301e-01 -2.53513518e-02 3.25579187e-03 7.16953165e+00] [ 2.52854278e-02 9.99501519e-01 1.89040056e-02 -7.90594180e-02] [-3.73341101e-03 -1.88155056e-02 9.99816002e-01 -1.04034346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84719347000001 meters Centerline goodness : 0.852881 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.08, Z:-1.04 [[ 9.99613339e-01 -2.76578247e-02 2.86641731e-03 7.17162086e+00] [ 2.76073495e-02 9.99484908e-01 1.63631354e-02 -7.63112223e-02] [-3.31750957e-03 -1.62776743e-02 9.99862006e-01 -1.04188682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87719347000001 meters Centerline goodness : 0.853633 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.07, Z:-1.04 [[ 9.99584486e-01 -2.86891097e-02 2.79120796e-03 7.17201911e+00] [ 2.86440109e-02 9.99476509e-01 1.50408957e-02 -7.34825448e-02] [-3.22125669e-03 -1.49546946e-02 9.99882983e-01 -1.04210481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90719347 meters Centerline goodness : 0.857609 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.06, Z:-1.04 [[ 9.99586677e-01 -2.85871316e-02 3.04156144e-03 7.17055597e+00] [ 2.85408536e-02 9.99490292e-01 1.43030155e-02 -6.42743359e-02] [-3.44889331e-03 -1.42102949e-02 9.99893081e-01 -1.04073137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93719347 meters Centerline goodness : 0.855499 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.06, Z:-1.04 [[ 9.99593127e-01 -2.83553223e-02 3.09124275e-03 7.16997008e+00] [ 2.83105273e-02 9.99505541e-01 1.36816204e-02 -5.89875406e-02] [-3.47766101e-03 -1.35885390e-02 9.99901624e-01 -1.04017787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96719347 meters Centerline goodness : 0.854529 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.05, Z:-1.04 [[ 9.99656984e-01 -2.59373638e-02 3.62870561e-03 7.16850593e+00] [ 2.58843156e-02 9.99567287e-01 1.39728774e-02 -4.99987956e-02] [-3.98955502e-03 -1.38741579e-02 9.99895790e-01 -1.03925248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99719347 meters Centerline goodness : 0.856768 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.04, Z:-1.04 [[ 9.99660862e-01 -2.57934775e-02 3.58563512e-03 7.16861747e+00] [ 2.57462102e-02 9.99588387e-01 1.26566027e-02 -4.46457488e-02] [-3.91061702e-03 -1.25599939e-02 9.99913473e-01 -1.03915232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02719347 meters Centerline goodness : 0.856091 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.04, Z:-1.04 [[ 9.99738608e-01 -2.25775864e-02 3.60103221e-03 7.16866297e+00] [ 2.25217105e-02 9.99635792e-01 1.48679390e-02 -4.01221921e-02] [-3.93540287e-03 -1.47829513e-02 9.99882982e-01 -1.03935743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05719347 meters Centerline goodness : 0.857089 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.03, Z:-1.04 [[ 9.99886136e-01 -1.48671666e-02 -2.58521255e-03 7.15893969e+00] [ 1.49037094e-02 9.99780242e-01 1.47426733e-02 -3.46453702e-02] [ 2.36546265e-03 -1.47795239e-02 9.99887979e-01 -1.03609547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08719347 meters Centerline goodness : 0.854663 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.02, Z:-1.04 [[ 9.99977489e-01 -5.77292172e-03 -3.41969916e-03 7.16203411e+00] [ 5.84406195e-03 9.99758771e-01 2.11718224e-02 -2.36870352e-02] [ 3.29665095e-03 -2.11913308e-02 9.99770003e-01 -1.03936170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11719347 meters Centerline goodness : 0.851976 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.02, Z:-1.04 [[ 9.99988830e-01 -2.87502340e-03 -3.75146836e-03 7.16399583e+00] [ 2.95995366e-03 9.99734899e-01 2.28335585e-02 -1.90686365e-02] [ 3.68482683e-03 -2.28444076e-02 9.99732242e-01 -1.04108607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14719347 meters Centerline goodness : 0.853676 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.02, Z:-1.04 [[ 9.99992384e-01 4.56841805e-04 -3.87594525e-03 7.16504174e+00] [-3.59116464e-04 9.99682954e-01 2.51766290e-02 -1.56542420e-02] [ 3.88621814e-03 -2.51750454e-02 9.99675505e-01 -1.04206018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17719347 meters Centerline goodness : 0.859073 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.01, Z:-1.04 [[ 9.99986161e-01 4.14912079e-03 -3.23449341e-03 7.16370889e+00] [-4.06235584e-03 9.99643598e-01 2.63850961e-02 -7.42376235e-03] [ 3.34281559e-03 -2.63715913e-02 9.99646620e-01 -1.04111630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20719347 meters Centerline goodness : 0.859596 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.00, Z:-1.04 [[ 9.99969313e-01 7.19198852e-03 -3.10612429e-03 7.16269868e+00] [-7.09869923e-03 9.99552248e-01 2.90673805e-02 -4.40525223e-03] [ 3.31378579e-03 -2.90444391e-02 9.99572628e-01 -1.03986436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23719347000001 meters Centerline goodness : 0.862518 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.00, Z:-1.04 [[ 9.99941751e-01 1.03214179e-02 -3.15654848e-03 7.16284065e+00] [-1.02152925e-02 9.99436710e-01 3.19673475e-02 -2.20942902e-03] [ 3.48471878e-03 -3.19332403e-02 9.99483929e-01 -1.03959510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26719347 meters Centerline goodness : 0.862323 Centerline is valid? [False, False] Translation: X:7.17, Y:0.00, Z:-1.04 [[ 9.99892065e-01 1.46911976e-02 -1.62122215e-04 7.16999776e+00] [-1.46823700e-02 9.99570939e-01 2.53449363e-02 3.01185983e-03] [ 5.34400123e-04 -2.53398203e-02 9.99678752e-01 -1.03848188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29719347 meters Centerline goodness : 0.863221 Centerline is valid? [False, False] Translation: X:7.17, Y:0.01, Z:-1.04 [[ 9.99888184e-01 1.49510001e-02 -2.94988453e-04 7.17059389e+00] [-1.49390811e-02 9.99580568e-01 2.48095026e-02 5.07101754e-03] [ 6.65791602e-04 -2.48023217e-02 9.99692153e-01 -1.03881015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32719347 meters Centerline goodness : 0.863228 Centerline is valid? [False, False] Translation: X:7.17, Y:0.01, Z:-1.04 [[ 9.99879517e-01 1.55114988e-02 -5.87628170e-04 7.17174075e+00] [-1.54922742e-02 9.99575313e-01 2.46816507e-02 6.26535645e-03] [ 9.70228007e-04 -2.46695733e-02 9.99695189e-01 -1.03949569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35719347 meters Centerline goodness : 0.862908 Centerline is valid? [False, False] Translation: X:7.17, Y:0.01, Z:-1.04 [[ 9.99872479e-01 1.59386359e-02 -9.92606423e-04 7.17323293e+00] [-1.59094563e-02 9.99571678e-01 2.45631899e-02 7.01188446e-03] [ 1.38368501e-03 -2.45442657e-02 9.99697787e-01 -1.04044072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38719347 meters Centerline goodness : 0.863043 Centerline is valid? [False, False] Translation: X:7.18, Y:0.01, Z:-1.04 [[ 9.99862131e-01 1.65209031e-02 -1.66673488e-03 7.17760256e+00] [-1.64745566e-02 9.99557169e-01 2.47801326e-02 6.18677011e-03] [ 2.07538697e-03 -2.47492575e-02 9.99691536e-01 -1.04428898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41719347 meters Centerline goodness : 0.861928 Centerline is valid? [False, False] Translation: X:7.18, Y:0.01, Z:-1.05 [[ 9.99874220e-01 1.57177851e-02 -2.12029628e-03 7.18016887e+00] [-1.56624574e-02 9.99589695e-01 2.39818605e-02 5.69168814e-03] [ 2.49636804e-03 -2.39456350e-02 9.99710145e-01 -1.04636226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44719347 meters Centerline goodness : 0.863336 Centerline is valid? [False, False] Translation: X:7.18, Y:0.00, Z:-1.05 [[ 9.99869917e-01 1.59583888e-02 -2.34082956e-03 7.18120584e+00] [-1.58964118e-02 9.99574446e-01 2.44587513e-02 4.21232444e-03] [ 2.73015568e-03 -2.44183588e-02 9.99698099e-01 -1.04705122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47719347 meters Centerline goodness : 0.863394 Centerline is valid? [False, False] Translation: X:7.18, Y:0.00, Z:-1.05 [[ 9.99887066e-01 1.47654522e-02 -2.79926801e-03 7.18378186e+00] [-1.46956580e-02 9.99615832e-01 2.34995050e-02 3.74256514e-04] [ 3.14517344e-03 -2.34557140e-02 9.99719929e-01 -1.04893771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50719347 meters Centerline goodness : 0.865999 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.00, Z:-1.05 [[ 9.99904491e-01 1.33542329e-02 -3.55989405e-03 7.18662385e+00] [-1.32727188e-02 9.99669547e-01 2.20143658e-02 -1.42505670e-03] [ 3.85270264e-03 -2.19650138e-02 9.99751317e-01 -1.05059264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53719347 meters Centerline goodness : 0.862654 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.00, Z:-1.05 [[ 9.99897644e-01 1.37859112e-02 -3.82748509e-03 7.18783828e+00] [-1.36951776e-02 9.99646284e-01 2.27980187e-02 -3.68280680e-03] [ 4.14042270e-03 -2.27432671e-02 9.99732765e-01 -1.05138364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56719347 meters Centerline goodness : 0.866282 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.01, Z:-1.05 [[ 9.99890218e-01 1.42249960e-02 -4.14737955e-03 7.18908979e+00] [-1.41235174e-02 9.99622923e-01 2.35486410e-02 -5.70929446e-03] [ 4.48079499e-03 -2.34874802e-02 9.99714090e-01 -1.05209128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59719347000001 meters Centerline goodness : 0.867486 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.01, Z:-1.05 [[ 9.99907179e-01 1.28821509e-02 -4.43670881e-03 7.20948095e+00] [-1.27677349e-02 9.99607978e-01 2.49173597e-02 -1.08470714e-02] [ 4.75595871e-03 -2.48584001e-02 9.99679669e-01 -1.05296813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62719347000001 meters Centerline goodness : 0.867486 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.01, Z:-1.05 [[ 9.99907179e-01 1.28821509e-02 -4.43670881e-03 7.20948095e+00] [-1.27677349e-02 9.99607978e-01 2.49173597e-02 -1.08470714e-02] [ 4.75595871e-03 -2.48584001e-02 9.99679669e-01 -1.05296813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65719347 meters Centerline goodness : 0.868616 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.01, Z:-1.05 [[ 9.99936418e-01 1.01762864e-02 -4.85840761e-03 7.21051299e+00] [-1.00657880e-02 9.99701747e-01 2.22507777e-02 -1.28869096e-02] [ 5.08338886e-03 -2.22004592e-02 9.99740616e-01 -1.05310689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68719347 meters Centerline goodness : 0.871113 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.02, Z:-1.05 [[ 9.99955960e-01 7.65459305e-03 -5.43005919e-03 7.21211373e+00] [-7.54426093e-03 9.99770389e-01 2.00562804e-02 -1.60008397e-02] [ 5.58233505e-03 -2.00144314e-02 9.99784107e-01 -1.05364247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71719347 meters Centerline goodness : 0.874517 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.02, Z:-1.06 [[ 9.99994164e-01 3.16795754e-03 -1.27871520e-03 7.22729510e+00] [-3.13627116e-03 9.99705488e-01 2.40645254e-02 -2.43057239e-02] [ 1.35457400e-03 -2.40603746e-02 9.99709590e-01 -1.05742876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74719347 meters Centerline goodness : 0.874523 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.03, Z:-1.06 [[ 9.99999622e-01 7.96272633e-04 3.49481940e-04 7.24501679e+00] [-8.04891995e-04 9.99677092e-01 2.53981079e-02 -2.78926245e-02] [-3.29145271e-04 -2.53983796e-02 9.99677355e-01 -1.05759582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77719347 meters Centerline goodness : 0.876787 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.03, Z:-1.06 [[ 9.99993372e-01 -2.30234911e-03 2.82058994e-03 7.26244274e+00] [ 2.23100747e-03 9.99683950e-01 2.50404247e-02 -3.07737736e-02] [-2.87735029e-03 -2.50339659e-02 9.99682460e-01 -1.05750912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80719347 meters Centerline goodness : 0.876530 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.04, Z:-1.05 [[ 9.99971371e-01 -7.45984161e-03 1.26811514e-03 7.27857160e+00] [ 7.39729439e-03 9.99016992e-01 4.37073224e-02 -4.20268556e-02] [-1.59291828e-03 -4.36966905e-02 9.99043574e-01 -1.05491211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83719347 meters Centerline goodness : 0.877307 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.05 [[ 9.99945328e-01 -1.02618280e-02 2.00900767e-03 7.29666041e+00] [ 1.01589637e-02 9.98896963e-01 4.58437920e-02 -4.63249513e-02] [-2.47723277e-03 -4.58208762e-02 9.98946600e-01 -1.05446108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86719347 meters Centerline goodness : 0.879746 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.06 [[ 9.99792009e-01 -2.03420915e-02 1.46237335e-03 7.29990505e+00] [ 2.02750745e-02 9.99125996e-01 3.65535954e-02 -5.03493497e-02] [-2.20467181e-03 -3.65163428e-02 9.99330624e-01 -1.05650217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89719347 meters Centerline goodness : 0.880296 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.06 [[ 9.99699933e-01 -2.44746370e-02 1.01742543e-03 7.30152978e+00] [ 2.44273976e-02 9.99150326e-01 3.31953030e-02 -5.28727463e-02] [-1.82900395e-03 -3.31604892e-02 9.99448366e-01 -1.05704845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92719347 meters Centerline goodness : 0.880160 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.05, Z:-1.06 [[ 9.99524173e-01 -3.08181720e-02 1.29151338e-03 7.30133191e+00] [ 3.07726099e-02 9.99168041e-01 2.67632637e-02 -5.40859360e-02] [-2.11523376e-03 -2.67107858e-02 9.99640965e-01 -1.05681483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95719347 meters Centerline goodness : 0.885421 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.06, Z:-1.05 [[ 9.99424036e-01 -3.37973537e-02 3.05550330e-03 7.31711144e+00] [ 3.37686613e-02 9.99389159e-01 8.99921703e-03 -5.78108510e-02] [-3.35778659e-03 -8.89085355e-03 9.99954838e-01 -1.05446756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98719347000001 meters Centerline goodness : 0.886906 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.06, Z:-1.05 [[ 9.99425790e-01 -3.37584026e-02 2.90853161e-03 7.31679470e+00] [ 3.37286859e-02 9.99383729e-01 9.72303691e-03 -6.01321186e-02] [-3.23497336e-03 -9.61935291e-03 9.99948500e-01 -1.05344177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01719347 meters Centerline goodness : 0.889665 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.06, Z:-1.05 [[ 9.99336367e-01 -3.63399436e-02 2.49670052e-03 7.31762840e+00] [ 3.63220470e-02 9.99316494e-01 6.87407762e-03 -5.98620147e-02] [-2.74479761e-03 -6.77883049e-03 9.99973256e-01 -1.05317920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04719347 meters Centerline goodness : 0.889019 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.06, Z:-1.05 [[ 9.99496623e-01 -3.15983691e-02 2.83629074e-03 7.33287213e+00] [ 3.16090972e-02 9.99493005e-01 -3.82084471e-03 -5.96753624e-02] [-2.71412029e-03 3.90857398e-03 9.99988678e-01 -1.05127906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07719347 meters Centerline goodness : 0.892058 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.06, Z:-1.05 [[ 9.99614999e-01 -2.76235272e-02 2.60651764e-03 7.33362037e+00] [ 2.76224342e-02 9.99618324e-01 4.54417811e-04 -6.06815108e-02] [-2.61807541e-03 -3.82244498e-04 9.99996500e-01 -1.05177647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10719347 meters Centerline goodness : 0.891665 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99772626e-01 -2.11459645e-02 2.74660630e-03 7.34913915e+00] [ 2.11702047e-02 9.99734302e-01 -9.11857242e-03 -5.80719065e-02] [-2.55305552e-03 9.17464531e-03 9.99954653e-01 -1.05087279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13719347 meters Centerline goodness : 0.890619 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99849915e-01 -1.71383775e-02 2.53450481e-03 7.35004710e+00] [ 1.71509047e-02 9.99840379e-01 -5.00639290e-03 -5.84282066e-02] [-2.44829880e-03 5.04911056e-03 9.99984256e-01 -1.05165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16719347 meters Centerline goodness : 0.890151 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99911327e-01 -1.31292406e-02 2.22732677e-03 7.35118853e+00] [ 1.31309524e-02 9.99913500e-01 -7.55686568e-04 -5.92947633e-02] [-2.21721252e-03 7.84866481e-04 9.99997234e-01 -1.05245650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19719347 meters Centerline goodness : 0.886417 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99921734e-01 -1.23245473e-02 2.15201656e-03 7.35162642e+00] [ 1.23257076e-02 9.99923897e-01 -5.26738298e-04 -5.84503000e-02] [-2.14536097e-03 5.53222199e-04 9.99997546e-01 -1.05285035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22719347 meters Centerline goodness : 0.890733 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99966617e-01 -8.03284242e-03 1.49583475e-03 7.35354815e+00] [ 8.02683944e-03 9.99959877e-01 3.97679598e-03 -5.93612446e-02] [-1.52771970e-03 -3.96465640e-03 9.99990974e-01 -1.05389108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25719347 meters Centerline goodness : 0.888646 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.06, Z:-1.05 [[ 9.99969254e-01 -7.76131764e-03 1.11905698e-03 7.35487590e+00] [ 7.75634029e-03 9.99960302e-01 4.38559024e-03 -5.98562044e-02] [-1.15305052e-03 -4.37677562e-03 9.99989757e-01 -1.05461499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28719347 meters Centerline goodness : 0.889681 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.06, Z:-1.06 [[ 9.99969244e-01 -7.78377827e-03 9.60801605e-04 7.35575423e+00] [ 7.77911589e-03 9.99958391e-01 4.76452718e-03 -6.13075927e-02] [-9.97847650e-04 -4.75690645e-03 9.99988188e-01 -1.05528947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31719347 meters Centerline goodness : 0.885727 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.06, Z:-1.05 [[ 9.99949952e-01 -9.33284705e-03 -3.60447304e-03 7.36557342e+00] [ 9.36715879e-03 9.99909827e-01 9.62262938e-03 -6.22343887e-02] [ 3.51434148e-03 -9.65591145e-03 9.99947205e-01 -1.05435470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34719347000001 meters Centerline goodness : 0.886271 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.06, Z:-1.06 [[ 9.99930223e-01 -1.12155460e-02 -3.70964128e-03 7.36740387e+00] [ 1.12440915e-02 9.99906627e-01 7.76575007e-03 -6.40333815e-02] [ 3.62219778e-03 -7.80691974e-03 9.99962965e-01 -1.05615018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37719347000001 meters Centerline goodness : 0.886384 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99932951e-01 -1.09440823e-02 -3.78427716e-03 7.36748267e+00] [ 1.09762915e-02 9.99902793e-01 8.59798428e-03 -6.61774343e-02] [ 3.68981226e-03 -8.63894513e-03 9.99955876e-01 -1.05582801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40719347 meters Centerline goodness : 0.888237 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99915239e-01 -1.22719586e-02 -4.34892662e-03 7.36983769e+00] [ 1.23043552e-02 9.99896152e-01 7.50256853e-03 -6.75308891e-02] [ 4.25640378e-03 -7.55544334e-03 9.99962398e-01 -1.05721156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43719347 meters Centerline goodness : 0.889005 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99914203e-01 -1.22223026e-02 -4.71193399e-03 7.37063619e+00] [ 1.22599085e-02 9.99892549e-01 8.03647325e-03 -6.92236416e-02] [ 4.61320348e-03 -8.09355162e-03 9.99956605e-01 -1.05727559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46719347 meters Centerline goodness : 0.886613 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99889034e-01 -1.39185086e-02 -5.30983771e-03 7.37357089e+00] [ 1.39529703e-02 9.99881465e-01 6.50927610e-03 -7.07862209e-02] [ 5.21860889e-03 -6.58264180e-03 9.99964717e-01 -1.05926995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49719347 meters Centerline goodness : 0.887500 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.07, Z:-1.06 [[ 9.99888802e-01 -1.38359570e-02 -5.56320930e-03 7.37428405e+00] [ 1.38755774e-02 9.99878184e-01 7.14747005e-03 -7.28410170e-02] [ 5.46363952e-03 -7.22386801e-03 9.99958981e-01 -1.05943593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52719347 meters Centerline goodness : 0.886972 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.07, Z:-1.06 [[ 9.99852736e-01 -1.60254654e-02 -6.13933629e-03 7.37673778e+00] [ 1.60573818e-02 9.99857627e-01 5.18513110e-03 -7.49482205e-02] [ 6.05536808e-03 -5.28294919e-03 9.99967711e-01 -1.06091013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55719347 meters Centerline goodness : 0.882555 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.08, Z:-1.06 [[ 9.99789665e-01 -1.96563626e-02 -5.85261878e-03 7.37573295e+00] [ 1.96726557e-02 9.99802722e-01 2.73946745e-03 -8.03737059e-02] [ 5.79761622e-03 -2.85402779e-03 9.99979121e-01 -1.05981272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58719347 meters Centerline goodness : 0.887681 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.08, Z:-1.06 [[ 9.99784025e-01 -1.98933834e-02 -6.01303542e-03 7.37615637e+00] [ 1.99147287e-02 9.99795517e-01 3.51105016e-03 -8.32880173e-02] [ 5.94195919e-03 -3.63003983e-03 9.99975758e-01 -1.05978723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61719347 meters Centerline goodness : 0.881971 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99760047e-01 -2.10869457e-02 -5.93206037e-03 7.37598711e+00] [ 2.11114563e-02 9.99768721e-01 4.10005602e-03 -8.67367068e-02] [ 5.84423075e-03 -4.22430663e-03 9.99974000e-01 -1.05935614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64719347 meters Centerline goodness : 0.884701 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99677232e-01 -2.46993314e-02 -5.94773212e-03 7.37595674e+00] [ 2.47032632e-02 9.99694655e-01 5.88497176e-04 -8.72648394e-02] [ 5.93138052e-03 -7.35235620e-04 9.99982139e-01 -1.05884057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67719347 meters Centerline goodness : 0.881059 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99584484e-01 -2.81998639e-02 -5.96886465e-03 7.37620199e+00] [ 2.81834741e-02 9.99598811e-01 -2.81242472e-03 -8.82350489e-02] [ 6.04578000e-03 2.64303276e-03 9.99978231e-01 -1.05869374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70719347 meters Centerline goodness : 0.884782 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99529677e-01 -2.99768763e-02 -6.46626630e-03 7.37866414e+00] [ 2.99485749e-02 9.99541623e-01 -4.43010545e-03 -8.98238756e-02] [ 6.59610304e-03 4.23436641e-03 9.99969280e-01 -1.06026097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73719347000001 meters Centerline goodness : 0.882167 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99536545e-01 -2.97137805e-02 -6.61720415e-03 7.37993817e+00] [ 2.96860287e-02 9.99550223e-01 -4.25335805e-03 -8.99000818e-02] [ 6.74061123e-03 4.05494829e-03 9.99969060e-01 -1.06142076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76719347 meters Centerline goodness : 0.880408 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99637467e-01 -2.59889352e-02 -7.03627041e-03 7.38123707e+00] [ 2.59857262e-02 9.99662164e-01 -5.47112670e-04 -8.93028068e-02] [ 7.04811218e-03 3.64071727e-04 9.99975095e-01 -1.06229844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79719347 meters Centerline goodness : 0.878702 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.09, Z:-1.06 [[ 9.99687665e-01 -2.37048177e-02 -7.91541236e-03 7.38421918e+00] [ 2.37150988e-02 9.99718028e-01 1.20753129e-03 -8.72427394e-02] [ 7.88455613e-03 -1.39486892e-03 9.99967944e-01 -1.06394622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82719347 meters Centerline goodness : 0.878352 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.09, Z:-1.06 [[ 9.99770857e-01 -1.97086570e-02 -8.35481327e-03 7.38524090e+00] [ 1.97508768e-02 9.99792423e-01 5.00131392e-03 -8.66539116e-02] [ 8.25450983e-03 -5.16518279e-03 9.99952591e-01 -1.06436313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85719347 meters Centerline goodness : 0.877100 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.08, Z:-1.06 [[ 9.99837390e-01 -1.32836858e-02 -1.21958241e-02 7.39398635e+00] [ 1.33292268e-02 9.99904462e-01 3.66048377e-03 -8.40914594e-02] [ 1.21460343e-02 -3.82244944e-03 9.99918928e-01 -1.06194457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88719347 meters Centerline goodness : 0.878580 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99845670e-01 -1.19911087e-02 -1.28393549e-02 7.39661809e+00] [ 1.20487742e-02 9.99917627e-01 4.42341488e-03 -8.20400655e-02] [ 1.27852556e-02 -4.57743070e-03 9.99907788e-01 -1.06361816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91719347 meters Centerline goodness : 0.875653 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99845273e-01 -1.18411597e-02 -1.30083775e-02 7.39717955e+00] [ 1.18944543e-02 9.99921149e-01 4.02724285e-03 -8.00176206e-02] [ 1.29596645e-02 -4.18134728e-03 9.99907277e-01 -1.06390300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94719347 meters Centerline goodness : 0.873841 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99841171e-01 -1.19096624e-02 -1.32587054e-02 7.39828432e+00] [ 1.19562029e-02 9.99922617e-01 3.43646443e-03 -7.75852718e-02] [ 1.32167523e-02 -3.59444240e-03 9.99906194e-01 -1.06475978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97719347 meters Centerline goodness : 0.874125 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99838590e-01 -1.19379911e-02 -1.34267738e-02 7.39865010e+00] [ 1.19836768e-02 9.99922657e-01 3.32728779e-03 -7.68026471e-02] [ 1.33860142e-02 -3.48765285e-03 9.99904321e-01 -1.06481111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00719347 meters Centerline goodness : 0.874283 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99830593e-01 -1.22817092e-02 -1.37093282e-02 7.39927466e+00] [ 1.23235093e-02 9.99919656e-01 2.96871594e-03 -7.61419133e-02] [ 1.36717659e-02 -3.13716005e-03 9.99901616e-01 -1.06482624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03719347 meters Centerline goodness : 0.875005 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99828604e-01 -1.21960769e-02 -1.39290475e-02 7.39941544e+00] [ 1.22397854e-02 9.99920418e-01 3.05701208e-03 -7.59665327e-02] [ 1.38906555e-02 -3.22697667e-03 9.99898313e-01 -1.06444262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06719347 meters Centerline goodness : 0.871241 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99832186e-01 -1.16021404e-02 -1.41770956e-02 7.40007957e+00] [ 1.16537722e-02 9.99925738e-01 3.56474767e-03 -7.59846407e-02] [ 1.41346841e-02 -3.72936610e-03 9.99893146e-01 -1.06460841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09719347000001 meters Centerline goodness : 0.871476 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99835514e-01 -1.13051722e-02 -1.41823061e-02 7.40018477e+00] [ 1.13586041e-02 9.99928671e-01 3.69262155e-03 -7.55828893e-02] [ 1.41395487e-02 -3.85310536e-03 9.99892608e-01 -1.06462965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12719347000001 meters Centerline goodness : 0.872356 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99861763e-01 -8.94218695e-03 -1.40176025e-02 7.39867878e+00] [ 9.03161749e-03 9.99939181e-01 6.32960479e-03 -7.58261487e-02] [ 1.39601494e-02 -6.45533143e-03 9.99881714e-01 -1.06316129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15719347 meters Centerline goodness : 0.873831 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.08, Z:-1.06 [[ 9.99857656e-01 -8.99864003e-03 -1.42720646e-02 7.39927838e+00] [ 9.08619880e-03 9.99940223e-01 6.08204314e-03 -7.50422969e-02] [ 1.42164813e-02 -6.21085621e-03 9.99879651e-01 -1.06321375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18719347 meters Centerline goodness : 0.873830 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.08, Z:-1.06 [[ 9.99919898e-01 -6.80346592e-03 -1.06728370e-02 7.41465506e+00] [ 6.90435389e-03 9.99931563e-01 9.44458646e-03 -7.64606342e-02] [ 1.06078507e-02 -9.51751898e-03 9.99898440e-01 -1.06100637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21719347 meters Centerline goodness : 0.876624 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.08, Z:-1.06 [[ 9.99936466e-01 -3.61407599e-03 -1.06771718e-02 7.41438730e+00] [ 3.75796873e-03 9.99901978e-01 1.34874898e-02 -7.90398505e-02] [ 1.06273804e-02 -1.35267573e-02 9.99852032e-01 -1.06044013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24719347 meters Centerline goodness : 0.874478 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.08, Z:-1.06 [[ 9.99969644e-01 -3.42493983e-03 -6.99862241e-03 7.42371840e+00] [ 3.60271874e-03 9.99667072e-01 2.55492857e-02 -8.19098983e-02] [ 6.90878760e-03 -2.55737242e-02 9.99649065e-01 -1.06143203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27719347 meters Centerline goodness : 0.876213 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.09, Z:-1.06 [[ 9.99986477e-01 -4.41824975e-03 -2.74329830e-03 7.43328980e+00] [ 4.51404485e-03 9.99343207e-01 3.59552356e-02 -8.55407202e-02] [ 2.58263731e-03 -3.59671327e-02 9.99349636e-01 -1.06342688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30719347 meters Centerline goodness : 0.875510 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.09, Z:-1.06 [[ 9.99985416e-01 -4.41675956e-03 -3.10797762e-03 7.43444122e+00] [ 4.52796165e-03 9.99314897e-01 3.67319227e-02 -8.74051652e-02] [ 2.94361226e-03 -3.67454598e-02 9.99320322e-01 -1.06371869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33719347 meters Centerline goodness : 0.872602 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.09, Z:-1.07 [[ 9.99981848e-01 -5.95596613e-03 -9.10780698e-04 7.44591160e+00] [ 5.99215324e-03 9.98879847e-01 4.69376852e-02 -9.04377569e-02] [ 6.30201220e-04 -4.69422908e-02 9.98897404e-01 -1.06575751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36719347 meters Centerline goodness : 0.872230 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99972271e-01 -5.54174747e-03 -4.97459055e-03 7.43907698e+00] [ 5.83748122e-03 9.98087096e-01 6.15473202e-02 -9.52095767e-02] [ 4.62399493e-03 -6.15746527e-02 9.98091770e-01 -1.06336930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39719347 meters Centerline goodness : 0.870226 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99970415e-01 -5.50082090e-03 -5.37683918e-03 7.43981286e+00] [ 5.82395826e-03 9.98055735e-01 6.20550671e-02 -9.53848721e-02] [ 5.02503137e-03 -6.20845457e-02 9.98058244e-01 -1.06288778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42719347 meters Centerline goodness : 0.872202 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99980147e-01 -2.08414157e-03 -5.94657688e-03 7.44140519e+00] [ 2.47713535e-03 9.97758987e-01 6.68645514e-02 -9.76627512e-02] [ 5.79389533e-03 -6.68779544e-02 9.97744341e-01 -1.06287841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45719347 meters Centerline goodness : 0.866080 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.10, Z:-1.06 [[ 9.99979153e-01 -1.77638303e-03 -6.20790493e-03 7.44233962e+00] [ 2.18888283e-03 9.97744831e-01 6.70854682e-02 -9.80968561e-02] [ 6.07473557e-03 -6.70976580e-02 9.97727920e-01 -1.06315294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48719347000001 meters Centerline goodness : 0.866642 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99987702e-01 2.49620454e-03 -4.28544822e-03 7.45027175e+00] [-2.23484238e-03 9.98199136e-01 5.99457299e-02 -9.78612367e-02] [ 4.42736751e-03 -5.99354154e-02 9.98192439e-01 -1.06200051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51719347 meters Centerline goodness : 0.866642 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99987747e-01 2.50526638e-03 -4.26968067e-03 7.45025168e+00] [-2.24485019e-03 9.98199346e-01 5.99418538e-02 -9.78442191e-02] [ 4.41216276e-03 -5.99315345e-02 9.98192739e-01 -1.06199988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54719347 meters Centerline goodness : 0.867977 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99986360e-01 2.92392968e-03 -4.32795174e-03 7.44992487e+00] [-2.65835970e-03 9.98186139e-01 6.01445345e-02 -9.81569282e-02] [ 4.49595983e-03 -6.01322088e-02 9.98180296e-01 -1.06125657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57719347 meters Centerline goodness : 0.869686 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99984805e-01 3.27923667e-03 -4.43120634e-03 7.45036645e+00] [-3.00515769e-03 9.98163478e-01 6.05032209e-02 -9.92214600e-02] [ 4.62147271e-03 -6.04889851e-02 9.98158166e-01 -1.06129772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60719347 meters Centerline goodness : 0.867473 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99983002e-01 3.55925825e-03 -4.61806044e-03 7.45116872e+00] [-3.27115253e-03 9.98134776e-01 6.09612000e-02 -1.00592611e-01] [ 4.82642338e-03 -6.09450574e-02 9.98129453e-01 -1.06171094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63719347 meters Centerline goodness : 0.867206 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99972584e-01 5.49046443e-03 -4.96845044e-03 7.45339958e+00] [-5.16536731e-03 9.97985332e-01 6.32344565e-02 -1.02781907e-01] [ 5.30562719e-03 -6.32070590e-02 9.97986332e-01 -1.06318651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66719347 meters Centerline goodness : 0.867901 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.10, Z:-1.06 [[ 9.99968472e-01 5.96000939e-03 -5.24717241e-03 7.45416538e+00] [-5.61319320e-03 9.97947064e-01 6.37977226e-02 -1.04000554e-01] [ 5.61663533e-03 -6.37662578e-02 9.97949056e-01 -1.06322740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69719347 meters Centerline goodness : 0.867392 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.11, Z:-1.06 [[ 9.99930963e-01 7.51590709e-03 -9.03222427e-03 7.46294796e+00] [-6.98448518e-03 9.98321485e-01 5.74928738e-02 -1.05940533e-01] [ 9.44917464e-03 -5.74258192e-02 9.98305058e-01 -1.05983031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72719347 meters Centerline goodness : 0.864569 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.11, Z:-1.06 [[ 0.99988158 0.01093945 -0.01082372 7.4837111 ] [-0.01045104 0.99896824 0.04419534 -0.11353997] [ 0.01129602 -0.04407699 0.99896427 -1.05995003] [ 0. 0. 0. 1. ]] SLAMing on 69.75719347 meters Centerline goodness : 0.861557 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.12, Z:-1.06 [[ 0.99988132 0.0103342 -0.01142605 7.48654966] [-0.00982462 0.99899251 0.0437886 -0.11685683] [ 0.01186706 -0.04367115 0.99897548 -1.06189239] [ 0. 0. 0. 1. ]] SLAMing on 69.78719347 meters Centerline goodness : 0.866089 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.12, Z:-1.06 [[ 0.99987615 0.01065103 -0.01158584 7.48749892] [-0.01012474 0.99895483 0.04457281 -0.11930416] [ 0.01204847 -0.04444999 0.99893895 -1.06248256] [ 0. 0. 0. 1. ]] SLAMing on 69.81719347 meters Centerline goodness : 0.864620 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.12, Z:-1.06 [[ 0.99986622 0.01079194 -0.01229097 7.48887083] [-0.01022885 0.99893506 0.04499027 -0.12133759] [ 0.01276342 -0.04485853 0.99891181 -1.06245753] [ 0. 0. 0. 1. ]] SLAMing on 69.84719347000001 meters Centerline goodness : 0.861669 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.13, Z:-1.06 [[ 0.99981559 0.01123433 -0.01557499 7.49341644] [-0.01054816 0.99899953 0.04345883 -0.12834997] [ 0.01604764 -0.04328653 0.99893381 -1.05962164] [ 0. 0. 0. 1. ]] SLAMing on 69.87719347 meters Centerline goodness : 0.859789 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.13, Z:-1.06 [[ 0.99983362 0.00885091 -0.01594944 7.49494531] [-0.00817996 0.99909867 0.04165253 -0.13311934] [ 0.01630373 -0.04151513 0.99900485 -1.06037256] [ 0. 0. 0. 1. ]] SLAMing on 69.90719347 meters Centerline goodness : 0.857831 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.14, Z:-1.06 [[ 9.99858955e-01 6.70848066e-03 -1.53969537e-02 7.48719938e+00] [-6.23948972e-03 9.99521117e-01 3.03084903e-02 -1.37147138e-01] [ 1.55929043e-02 -3.02081463e-02 9.99421998e-01 -1.06228143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93719347 meters Centerline goodness : 0.861196 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.14, Z:-1.06 [[ 9.99872175e-01 2.69586973e-03 -1.57595994e-02 7.48929161e+00] [-2.27045016e-03 9.99634200e-01 2.69501542e-02 -1.41631761e-01] [ 1.58264887e-02 -2.69109280e-02 9.99512543e-01 -1.06377434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96719347 meters Centerline goodness : 0.859039 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.15, Z:-1.07 [[ 9.99864466e-01 -3.60351724e-03 -1.60643998e-02 7.49202394e+00] [ 3.95680802e-03 9.99749813e-01 2.20148934e-02 -1.48455496e-01] [ 1.59810496e-02 -2.20754733e-02 9.99628571e-01 -1.06607277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99719347 meters Centerline goodness : 0.859549 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.15, Z:-1.07 [[ 9.99844145e-01 -6.09091219e-03 -1.65706675e-02 7.49496977e+00] [ 6.42552314e-03 9.99775003e-01 2.02152348e-02 -1.51243988e-01] [ 1.64438099e-02 -2.03185594e-02 9.99658320e-01 -1.06826079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02719347 meters Centerline goodness : 0.859650 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.07 [[ 0.99977801 -0.01290529 -0.01665471 7.49662037] [ 0.01315572 0.9998007 0.01501607 -0.15882577] [ 0.01645761 -0.01523184 0.99974854 -1.06952604] [ 0. 0. 0. 1. ]] SLAMing on 70.05719347 meters Centerline goodness : 0.861592 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.16, Z:-1.07 [[ 0.99967423 -0.01882644 -0.01723389 7.49907695] [ 0.01899872 0.99977062 0.00988765 -0.16396951] [ 0.01704378 -0.01021185 0.99980259 -1.0708098 ] [ 0. 0. 0. 1. ]] SLAMing on 70.08719347 meters Centerline goodness : 0.859935 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.17, Z:-1.07 [[ 9.99568172e-01 -2.37147121e-02 -1.73517252e-02 7.50035748e+00] [ 2.38203963e-02 9.99698788e-01 5.90956401e-03 -1.69481949e-01] [ 1.72063551e-02 -6.32033706e-03 9.99831983e-01 -1.07155486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11719347 meters Centerline goodness : 0.864828 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.17, Z:-1.07 [[ 9.99465202e-01 -2.76028597e-02 -1.75326069e-02 7.50098442e+00] [ 2.76668528e-02 9.99611356e-01 3.41789432e-03 -1.74394627e-01] [ 1.74314493e-02 -3.90113850e-03 9.99840450e-01 -1.07135708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14719347 meters Centerline goodness : 0.860477 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.18, Z:-1.07 [[ 9.99349944e-01 -3.14777719e-02 -1.75738217e-02 7.50136278e+00] [ 3.14973089e-02 9.99503487e-01 8.35960590e-04 -1.78298176e-01] [ 1.75387819e-02 -1.38894526e-03 9.99845219e-01 -1.07111855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17719347 meters Centerline goodness : 0.865687 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.19, Z:-1.07 [[ 9.99159668e-01 -3.95510157e-02 -1.07552277e-02 7.50823067e+00] [ 3.95906098e-02 9.99209877e-01 3.49364686e-03 -1.85077285e-01] [ 1.06085524e-02 -3.91651705e-03 9.99936058e-01 -1.07165608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20719347 meters Centerline goodness : 0.867590 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.19, Z:-1.07 [[ 9.99100723e-01 -4.09472264e-02 -1.10031504e-02 7.50987922e+00] [ 4.09829901e-02 9.99155206e-01 3.04463334e-03 -1.87514379e-01] [ 1.08691857e-02 -3.49283737e-03 9.99934828e-01 -1.07261736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23719347000001 meters Centerline goodness : 0.869772 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.19, Z:-1.07 [[ 9.98920776e-01 -4.52551188e-02 -1.04526779e-02 7.50926797e+00] [ 4.52504096e-02 9.98975440e-01 -6.86714388e-04 -1.89193428e-01] [ 1.04730458e-02 2.12985313e-04 9.99945133e-01 -1.07218745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26719347 meters Centerline goodness : 0.872518 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.19, Z:-1.08 [[ 9.98969385e-01 -4.52920608e-02 -2.96596246e-03 7.51918205e+00] [ 4.52655702e-02 9.98939159e-01 -8.46075635e-03 -1.88873308e-01] [ 3.34602114e-03 8.31778059e-03 9.99959809e-01 -1.07512249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29719347 meters Centerline goodness : 0.872972 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.19, Z:-1.08 [[ 9.98950646e-01 -4.56957432e-02 -3.08326298e-03 7.51951314e+00] [ 4.56674346e-02 9.98918814e-01 -8.69995181e-03 -1.88919497e-01] [ 3.47748016e-03 8.55001777e-03 9.99957401e-01 -1.07513734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32719347 meters Centerline goodness : 0.871518 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.18, Z:-1.08 [[ 9.98984556e-01 -4.49033375e-02 -3.68058621e-03 7.52303993e+00] [ 4.48742076e-02 9.98963370e-01 -7.64796166e-03 -1.84445454e-01] [ 4.02018980e-03 7.47503220e-03 9.99963980e-01 -1.07823753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35719347 meters Centerline goodness : 0.873775 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.18, Z:-1.08 [[ 9.99061409e-01 -4.30865717e-02 -4.45519498e-03 7.52582776e+00] [ 4.30614308e-02 9.99056771e-01 -5.59290247e-03 -1.81705347e-01] [ 4.69197170e-03 5.39580595e-03 9.99974435e-01 -1.08016908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38719347 meters Centerline goodness : 0.872795 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.18, Z:-1.08 [[ 9.99123869e-01 -4.15126125e-02 -5.31012746e-03 7.52881373e+00] [ 4.14919425e-02 9.99131049e-01 -3.94527216e-03 -1.78883850e-01] [ 5.46929177e-03 3.72148808e-03 9.99978118e-01 -1.08209923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41719347 meters Centerline goodness : 0.871621 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.18, Z:-1.08 [[ 9.99119535e-01 -4.14935829e-02 -6.19975973e-03 7.53281371e+00] [ 4.14670070e-02 9.99130381e-01 -4.35541388e-03 -1.75661553e-01] [ 6.37509002e-03 4.09449361e-03 9.99971296e-01 -1.08497506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44719347 meters Centerline goodness : 0.869107 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.17, Z:-1.09 [[ 9.99056629e-01 -4.27855926e-02 -7.43273337e-03 7.53855470e+00] [ 4.27314602e-02 9.99059959e-01 -7.29526915e-03 -1.66571396e-01] [ 7.73787871e-03 6.97077545e-03 9.99945765e-01 -1.08972120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47719347 meters Centerline goodness : 0.870038 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.16, Z:-1.09 [[ 0.99905479 -0.04272387 -0.00801275 7.5415066 ] [ 0.04266009 0.99905786 -0.00796874 -0.16180071] [ 0.00834566 0.00761938 0.99993615 -1.0920477 ] [ 0. 0. 0. 1. ]] SLAMing on 70.50719347 meters Centerline goodness : 0.870914 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.16, Z:-1.09 [[ 9.99097375e-01 -4.19066831e-02 -6.94727343e-03 7.56077807e+00] [ 4.18297904e-02 9.99065655e-01 -1.08667075e-02 -1.55932383e-01] [ 7.39616995e-03 1.05662960e-02 9.99916822e-01 -1.09366108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53719347 meters Centerline goodness : 0.868273 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.15, Z:-1.09 [[ 9.99169169e-01 -4.00563626e-02 -7.51393900e-03 7.56247137e+00] [ 3.99835923e-02 9.99154246e-01 -9.59710982e-03 -1.51139530e-01] [ 7.89200937e-03 9.28870198e-03 9.99925715e-01 -1.09457351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56719347 meters Centerline goodness : 0.872134 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.15, Z:-1.10 [[ 9.99319837e-01 -3.68292561e-02 -1.86267238e-03 7.57412223e+00] [ 3.67982614e-02 9.99216322e-01 -1.45818359e-02 -1.45374201e-01] [ 2.39825082e-03 1.45033748e-02 9.99891944e-01 -1.09773415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59719347000001 meters Centerline goodness : 0.873117 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.14, Z:-1.10 [[ 9.99392245e-01 -3.47857709e-02 -2.25610167e-03 7.57437969e+00] [ 3.47505123e-02 9.99296049e-01 -1.41353795e-02 -1.35689517e-01] [ 2.74622356e-03 1.40483879e-02 9.99897545e-01 -1.09718109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62719347 meters Centerline goodness : 0.875408 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.13, Z:-1.10 [[ 9.99525744e-01 -3.07704161e-02 1.21167643e-03 7.58624019e+00] [ 3.07883235e-02 9.99331852e-01 -1.96958814e-02 -1.31140991e-01] [-6.04816383e-04 1.97238460e-02 9.99805283e-01 -1.10035270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65719347 meters Centerline goodness : 0.874256 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.13, Z:-1.10 [[ 9.99588716e-01 -2.86738323e-02 4.57960108e-04 7.58895427e+00] [ 2.86774303e-02 9.99426842e-01 -1.79887023e-02 -1.27408503e-01] [ 5.81074073e-05 1.79944369e-02 9.99838085e-01 -1.10210112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68719347 meters Centerline goodness : 0.877145 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.12, Z:-1.11 [[ 9.99687037e-01 -2.45902925e-02 4.59846088e-03 7.60077981e+00] [ 2.46942274e-02 9.99404354e-01 -2.41066725e-02 -1.19394795e-01] [-4.00293170e-03 2.42126835e-02 9.99698816e-01 -1.10578698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71719347 meters Centerline goodness : 0.876063 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.12, Z:-1.11 [[ 9.99731352e-01 -2.23585920e-02 6.10878233e-03 7.62004859e+00] [ 2.24964659e-02 9.99470232e-01 -2.35194419e-02 -1.15995361e-01] [-5.57968449e-03 2.36505495e-02 9.99704716e-01 -1.10686210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74719347 meters Centerline goodness : 0.880553 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.11, Z:-1.11 [[ 0.99979795 -0.01665415 0.01125582 7.63044273] [ 0.01696755 0.99945415 -0.02834623 -0.10504281] [-0.01077759 0.02853149 0.99953479 -1.10963213] [ 0. 0. 0. 1. ]] SLAMing on 70.77719347 meters Centerline goodness : 0.881101 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.10, Z:-1.11 [[ 0.99985429 -0.01294384 0.01112903 7.63053564] [ 0.01322696 0.99958081 -0.02575368 -0.1008855 ] [-0.01079102 0.02589713 0.99960637 -1.10892052] [ 0. 0. 0. 1. ]] SLAMing on 70.80719347 meters Centerline goodness : 0.879796 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.10, Z:-1.11 [[ 9.99924467e-01 -5.86252716e-03 1.08023398e-02 7.63096433e+00] [ 6.06305775e-03 9.99808149e-01 -1.86253504e-02 -9.93650625e-02] [-1.06910758e-02 1.86894388e-02 9.99768176e-01 -1.10860109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83719347 meters Centerline goodness : 0.879466 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99943076e-01 6.10000707e-04 1.06523877e-02 7.63000505e+00] [-4.59967760e-04 9.99900749e-01 -1.40812175e-02 -9.21136479e-02] [-1.06599200e-02 1.40755162e-02 9.99844111e-01 -1.10648395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86719347 meters Centerline goodness : 0.880388 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99936080e-01 4.17295320e-03 1.05082161e-02 7.62992246e+00] [-4.05736436e-03 9.99931297e-01 -1.09972512e-02 -8.95150484e-02] [-1.05533851e-02 1.09539126e-02 9.99884312e-01 -1.10583903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89719347 meters Centerline goodness : 0.881750 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99933660e-01 4.67129069e-03 1.05287106e-02 7.62944515e+00] [-4.54905550e-03 9.99922325e-01 -1.16039021e-02 -8.57245868e-02] [-1.05820980e-02 1.15552367e-02 9.99877240e-01 -1.10518935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92719347 meters Centerline goodness : 0.881562 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99904767e-01 9.69362280e-03 9.82298488e-03 7.63168667e+00] [-9.62525408e-03 9.99929289e-01 -6.98361313e-03 -7.95599643e-02] [-9.88998680e-03 6.88839933e-03 9.99927366e-01 -1.10624270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95719347 meters Centerline goodness : 0.882271 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99874782e-01 1.25293576e-02 9.66624645e-03 7.63220725e+00] [-1.24913013e-02 9.99914030e-01 -3.98741050e-03 -7.78843894e-02] [-9.71537513e-03 3.86616721e-03 9.99945331e-01 -1.10630600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98719347000001 meters Centerline goodness : 0.884192 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99837780e-01 1.52340228e-02 9.60931425e-03 7.63263905e+00] [-1.52261576e-02 9.99883678e-01 -8.91129728e-04 -7.78352060e-02] [-9.62177197e-03 7.44672235e-04 9.99953432e-01 -1.10656576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01719347 meters Centerline goodness : 0.884869 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99840221e-01 1.51912520e-02 9.42121239e-03 7.63298405e+00] [-1.51819797e-02 9.99884191e-01 -1.05493567e-03 -7.72567541e-02] [-9.43614712e-03 9.11734458e-04 9.99955063e-01 -1.10643614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04719347 meters Centerline goodness : 0.880023 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99783527e-01 1.85058045e-02 9.50973162e-03 7.63322997e+00] [-1.85280297e-02 9.99825800e-01 2.25433317e-03 -7.65826586e-02] [-9.46635677e-03 -2.43004176e-03 9.99952240e-01 -1.10677707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07719347 meters Centerline goodness : 0.889843 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99707995e-01 2.22499747e-02 9.42676772e-03 7.63390462e+00] [-2.23103926e-02 9.99730905e-01 6.35323257e-03 -7.63585672e-02] [-9.28287176e-03 -6.56169228e-03 9.99935384e-01 -1.10707728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10719347 meters Centerline goodness : 0.884703 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99709801e-01 2.23127979e-02 9.08040660e-03 7.63476933e+00] [-2.23669979e-02 9.99732348e-01 5.91175903e-03 -7.41651125e-02] [-8.94606833e-03 -6.11314487e-03 9.99941297e-01 -1.10733975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13719347 meters Centerline goodness : 0.882104 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.07, Z:-1.11 [[ 0.99965823 0.02478091 0.00832593 7.63747051] [-0.02485449 0.99965188 0.00885302 -0.07407603] [-0.00810365 -0.00905693 0.99992615 -1.10891144] [ 0. 0. 0. 1. ]] SLAMing on 71.16719347 meters Centerline goodness : 0.882465 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.08, Z:-1.11 [[ 0.9996402 0.02554049 0.00819459 7.63796376] [-0.02562046 0.99962363 0.00980731 -0.07545959] [-0.00794102 -0.01001373 0.99991833 -1.10900706] [ 0. 0. 0. 1. ]] SLAMing on 71.19719347 meters Centerline goodness : 0.886633 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.08, Z:-1.11 [[ 0.99967695 0.02318981 0.01040328 7.64891001] [-0.02337655 0.99956101 0.01820236 -0.07803609] [-0.00997661 -0.01843968 0.9997802 -1.11124558] [ 0. 0. 0. 1. ]] SLAMing on 71.22719347 meters Centerline goodness : 0.883899 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.08, Z:-1.11 [[ 0.99967079 0.02349351 0.01031318 7.64928164] [-0.02368511 0.99954142 0.01886701 -0.07982817] [-0.0098652 -0.01910507 0.99976881 -1.11142236] [ 0. 0. 0. 1. ]] SLAMing on 71.25719347 meters Centerline goodness : 0.891192 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.08, Z:-1.11 [[ 0.99965126 0.02351131 0.01202377 7.65664286] [-0.02387503 0.99923237 0.03105882 -0.08366207] [-0.0112843 -0.03133506 0.99944524 -1.10977289] [ 0. 0. 0. 1. ]] SLAMing on 71.28719347 meters Centerline goodness : 0.893376 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.08, Z:-1.11 [[ 0.99965618 0.02344683 0.01173777 7.65721053] [-0.02380129 0.99923504 0.03102963 -0.0834811 ] [-0.01100125 -0.03129834 0.99944954 -1.10965098] [ 0. 0. 0. 1. ]] SLAMing on 71.31719347 meters Centerline goodness : 0.893293 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.08, Z:-1.11 [[ 0.99965539 0.02366433 0.01136237 7.65817441] [-0.02401503 0.99920601 0.03179038 -0.08419496] [-0.01060105 -0.0320523 0.99942997 -1.10952365] [ 0. 0. 0. 1. ]] SLAMing on 71.34719347000001 meters Centerline goodness : 0.893517 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99966417 0.023528 0.01086162 7.65957043] [-0.02386758 0.9991941 0.03227212 -0.0858704 ] [-0.01009356 -0.03252053 0.9994201 -1.10987908] [ 0. 0. 0. 1. ]] SLAMing on 71.37719347 meters Centerline goodness : 0.895717 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99967107 0.02338146 0.01053807 7.66104745] [-0.02371742 0.99917483 0.03297174 -0.08808303] [-0.00975845 -0.03321083 0.99940073 -1.11072768] [ 0. 0. 0. 1. ]] SLAMing on 71.40719347 meters Centerline goodness : 0.895717 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99967035 0.02340625 0.0105515 7.66102407] [-0.02374273 0.99917396 0.03297992 -0.0880022 ] [-0.00977084 -0.03321957 0.99940032 -1.11066443] [ 0. 0. 0. 1. ]] SLAMing on 71.43719347 meters Centerline goodness : 0.889219 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.09, Z:-1.11 [[ 0.99972957 0.02101889 0.00994956 7.66327005] [-0.02131703 0.99929598 0.03087281 -0.08878691] [-0.00929365 -0.03107655 0.9994738 -1.11203805] [ 0. 0. 0. 1. ]] SLAMing on 71.46719347 meters Centerline goodness : 0.892305 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.09, Z:-1.11 [[ 0.99984791 0.01256782 0.01209183 7.65270396] [-0.01317862 0.99856867 0.05183572 -0.09404717] [-0.01142306 -0.05198719 0.99858242 -1.10942506] [ 0. 0. 0. 1. ]] SLAMing on 71.49719347 meters Centerline goodness : 0.891058 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.09, Z:-1.11 [[ 0.99991477 0.01017577 0.0081801 7.6422366 ] [-0.01049199 0.99916085 0.03959178 -0.09230527] [-0.00777036 -0.03967423 0.99918245 -1.10554077] [ 0. 0. 0. 1. ]] SLAMing on 71.52719347 meters Centerline goodness : 0.893412 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.10 [[ 9.99972008e-01 5.80222732e-03 4.72402267e-03 7.62551223e+00] [-5.96806166e-03 9.99338215e-01 3.58819419e-02 -9.14328267e-02] [-4.51270120e-03 -3.59091308e-02 9.99344870e-01 -1.10475676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55719347 meters Centerline goodness : 0.893138 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99988526e-01 -2.43793339e-03 4.12360476e-03 7.62736014e+00] [ 2.32390378e-03 9.99620882e-01 2.74352220e-02 -8.97225300e-02] [-4.18892667e-03 -2.74253243e-02 9.99615078e-01 -1.10598935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58719347 meters Centerline goodness : 0.895980 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99969948e-01 -6.62244042e-03 4.03072494e-03 7.62803756e+00] [ 6.52856573e-03 9.99717049e-01 2.28735679e-02 -8.80372222e-02] [-4.18106328e-03 -2.28465657e-02 9.99730240e-01 -1.10654522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61719347 meters Centerline goodness : 0.896959 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.09, Z:-1.11 [[ 9.99936655e-01 -1.05070032e-02 4.03585933e-03 7.62808422e+00] [ 1.04307645e-02 9.99775034e-01 1.84683708e-02 -8.59829145e-02] [-4.22899863e-03 -1.84251038e-02 9.99821300e-01 -1.10647515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64719347 meters Centerline goodness : 0.892868 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99891459e-01 -1.41662323e-02 4.04834201e-03 7.62801405e+00] [ 1.41074284e-02 9.99799615e-01 1.42024749e-02 -8.39697419e-02] [-4.24872635e-03 -1.41438216e-02 9.99890944e-01 -1.10615816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67719347 meters Centerline goodness : 0.893861 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99876847e-01 -1.51024660e-02 4.26683021e-03 7.62738082e+00] [ 1.50475196e-02 9.99807024e-01 1.26288284e-02 -8.04549416e-02] [-4.45673327e-03 -1.25630679e-02 9.99911149e-01 -1.10562391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70719347 meters Centerline goodness : 0.893449 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.08, Z:-1.11 [[ 9.99873126e-01 -1.53987182e-02 4.07561404e-03 7.62824565e+00] [ 1.53499776e-02 9.99813355e-01 1.17317479e-02 -7.72855051e-02] [-4.25550723e-03 -1.16676988e-02 9.99922875e-01 -1.10618298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73719347000001 meters Centerline goodness : 0.893068 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99869368e-01 -1.56081579e-02 4.19904424e-03 7.62839752e+00] [ 1.55619419e-02 9.99820333e-01 1.08225891e-02 -7.39778453e-02] [-4.36721049e-03 -1.07558300e-02 9.99932618e-01 -1.10661385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76719347 meters Centerline goodness : 0.886460 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99868903e-01 -1.56558937e-02 4.13147550e-03 7.62826166e+00] [ 1.56170032e-02 9.99834951e-01 9.28333393e-03 -6.90454046e-02] [-4.27613250e-03 -9.21759565e-03 9.99948374e-01 -1.10614608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79719347 meters Centerline goodness : 0.885361 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.07, Z:-1.11 [[ 9.99870045e-01 -1.55751963e-02 4.16018525e-03 7.62786477e+00] [ 1.55390987e-02 9.99842510e-01 8.57271141e-03 -6.60578249e-02] [-4.29305173e-03 -8.50695181e-03 9.99954600e-01 -1.10556906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82719347 meters Centerline goodness : 0.892028 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.06, Z:-1.11 [[ 9.99872964e-01 -1.54523151e-02 3.90911738e-03 7.62824597e+00] [ 1.54217898e-02 9.99851259e-01 7.72194273e-03 -6.17176363e-02] [-4.02785783e-03 -7.66067618e-03 9.99962544e-01 -1.10533977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85719347 meters Centerline goodness : 0.887080 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.05, Z:-1.11 [[ 9.99952870e-01 -9.05852445e-03 3.49285425e-03 7.62905364e+00] [ 9.01190539e-03 9.99873063e-01 1.31393765e-02 -5.43091133e-02] [-3.61143424e-03 -1.31072799e-02 9.99907574e-01 -1.10563580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88719347 meters Centerline goodness : 0.887888 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.05, Z:-1.11 [[ 9.99953283e-01 -9.10206521e-03 3.25341181e-03 7.63044965e+00] [ 9.06247539e-03 9.99887132e-01 1.19830715e-02 -4.95446586e-02] [-3.36211530e-03 -1.19530277e-02 9.99922908e-01 -1.10680556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91719347 meters Centerline goodness : 0.888929 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.05, Z:-1.10 [[ 9.99985021e-01 -4.93538673e-03 -2.36634793e-03 7.62101201e+00] [ 4.94960402e-03 9.99969507e-01 6.04038162e-03 -4.54140654e-02] [ 2.33646415e-03 -6.05200363e-03 9.99978957e-01 -1.10401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94719347 meters Centerline goodness : 0.890930 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.04, Z:-1.10 [[ 9.99982783e-01 -5.23003498e-03 -2.66092488e-03 7.62173389e+00] [ 5.24307858e-03 9.99974158e-01 4.91877443e-03 -4.15808541e-02] [ 2.63513076e-03 -4.93264118e-03 9.99984362e-01 -1.10410963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97719347 meters Centerline goodness : 0.889722 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.04, Z:-1.10 [[ 9.99991103e-01 -3.46391555e-03 -2.40717633e-03 7.60200156e+00] [ 3.47283276e-03 9.99987087e-01 3.71017504e-03 -3.54224017e-02] [ 2.39429352e-03 -3.71850176e-03 9.99990220e-01 -1.10375501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00719347 meters Centerline goodness : 0.888058 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.03, Z:-1.10 [[ 9.99989085e-01 -3.88428397e-03 -2.59640632e-03 7.60247159e+00] [ 3.89151398e-03 9.99988549e-01 2.78539296e-03 -3.23218965e-02] [ 2.58555733e-03 -2.79546651e-03 9.99992750e-01 -1.10383483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03719347 meters Centerline goodness : 0.890392 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.03, Z:-1.10 [[ 9.99994170e-01 -2.36440855e-03 -2.46366813e-03 7.60150186e+00] [ 2.37504678e-03 9.99987831e-01 4.32410607e-03 -3.00591948e-02] [ 2.45341419e-03 -4.32993219e-03 9.99987616e-01 -1.10292960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06719347 meters Centerline goodness : 0.889562 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.03, Z:-1.10 [[ 9.99993976e-01 -1.79544339e-03 -2.97042439e-03 7.60369243e+00] [ 1.80991431e-03 9.99986473e-01 4.87617185e-03 -2.73166202e-02] [ 2.96162932e-03 -4.88151870e-03 9.99983700e-01 -1.10434608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09719347000001 meters Centerline goodness : 0.888329 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.02, Z:-1.11 [[ 9.99969075e-01 -8.67267032e-04 -7.81639188e-03 7.58980438e+00] [ 8.99633388e-04 9.99991033e-01 4.13826649e-03 -2.07876656e-02] [ 7.81273281e-03 -4.14517041e-03 9.99960889e-01 -1.10634021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12719347 meters Centerline goodness : 0.891233 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.02, Z:-1.11 [[ 9.99964940e-01 -1.29661731e-03 -8.27265890e-03 7.59116706e+00] [ 1.32503239e-03 9.99993239e-01 3.43026335e-03 -1.85811938e-02] [ 8.26815523e-03 -3.44110463e-03 9.99959897e-01 -1.10701614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15719347 meters Centerline goodness : 0.892926 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.02, Z:-1.11 [[ 9.99961527e-01 -1.97415254e-03 -8.54680616e-03 7.59216871e+00] [ 1.99621837e-03 9.99994695e-01 2.57400185e-03 -1.67704672e-02] [ 8.54167935e-03 -2.59096411e-03 9.99960163e-01 -1.10761484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18719347 meters Centerline goodness : 0.892633 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99955645e-01 -3.94530691e-03 -8.55235861e-03 7.59188395e+00] [ 3.94796581e-03 9.99992164e-01 2.94035843e-04 -1.17656646e-02] [ 8.55113152e-03 -3.27787220e-04 9.99963385e-01 -1.10716841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21719347 meters Centerline goodness : 0.893842 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99951015e-01 -4.81462920e-03 -8.64795748e-03 7.59168772e+00] [ 4.80918587e-03 9.99988224e-01 -6.50120164e-04 -9.55282818e-03] [ 8.65098573e-03 6.08498683e-04 9.99962394e-01 -1.10655040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24719347 meters Centerline goodness : 0.897951 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99945574e-01 -5.68655452e-03 -8.74714499e-03 7.59165785e+00] [ 5.67478177e-03 9.99982960e-01 -1.37012855e-03 -8.60826968e-03] [ 8.75478724e-03 1.32041584e-03 9.99960804e-01 -1.10614958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27719347 meters Centerline goodness : 0.899188 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99899276e-01 -1.09614559e-02 -9.01579622e-03 7.59225681e+00] [ 1.09014251e-02 9.99918260e-01 -6.68080845e-03 -5.82194929e-03] [ 9.08829065e-03 6.58185051e-03 9.99937039e-01 -1.10617485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30719347 meters Centerline goodness : 0.895322 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.01, Z:-1.11 [[ 9.99886193e-01 -1.18197978e-02 -9.37518732e-03 7.59349025e+00] [ 1.17531121e-02 9.99905463e-01 -7.13648473e-03 -5.02404100e-03] [ 9.45865283e-03 7.02548491e-03 9.99930586e-01 -1.10687101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33719347 meters Centerline goodness : 0.897372 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.00, Z:-1.11 [[ 9.99875122e-01 -1.25204143e-02 -9.64257301e-03 7.59468877e+00] [ 1.24464979e-02 9.99892985e-01 -7.68786228e-03 -3.84375711e-03] [ 9.73779633e-03 7.56688597e-03 9.99923956e-01 -1.10767100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36719347 meters Centerline goodness : 0.898567 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.00, Z:-1.11 [[ 9.99862177e-01 -1.35247939e-02 -9.62849057e-03 7.59508316e+00] [ 1.34379079e-02 9.99868914e-01 -9.03206108e-03 -9.11352090e-05] [ 9.74938517e-03 8.90142948e-03 9.99912853e-01 -1.10805464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39719347 meters Centerline goodness : 0.903751 Centerline is valid? [False, False] Translation: X:7.60, Y:0.00, Z:-1.11 [[ 9.99898074e-01 -1.03983925e-02 -9.78342345e-03 7.59501259e+00] [ 1.03425342e-02 9.99930023e-01 -5.74285991e-03 1.15102671e-03] [ 9.84245535e-03 5.64108917e-03 9.99935650e-01 -1.10754276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42719347 meters Centerline goodness : 0.906225 Centerline is valid? [False, False] Translation: X:7.59, Y:0.00, Z:-1.11 [[ 9.99927525e-01 -7.06542053e-03 -9.74808620e-03 7.59439968e+00] [ 7.03901518e-03 9.99971471e-01 -2.74042907e-03 3.82412991e-03] [ 9.76717038e-03 2.67161353e-03 9.99948731e-01 -1.10674243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45719347 meters Centerline goodness : 0.902515 Centerline is valid? [False, False] Translation: X:7.59, Y:0.01, Z:-1.10 [[ 9.99955931e-01 -8.40019427e-04 -9.35037420e-03 7.59225936e+00] [ 8.52517850e-04 9.99998748e-01 1.33277080e-03 1.33364857e-02] [ 9.34924294e-03 -1.34068343e-03 9.99955396e-01 -1.10437268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48719347000001 meters Centerline goodness : 0.907146 Centerline is valid? [False, False] Translation: X:7.59, Y:0.02, Z:-1.10 [[ 9.99952971e-01 2.71955103e-03 -9.30914803e-03 7.59197256e+00] [-2.68597275e-03 9.99989849e-01 3.61762359e-03 1.85985448e-02] [ 9.31889184e-03 -3.59244934e-03 9.99950125e-01 -1.10372462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51719347 meters Centerline goodness : 0.905199 Centerline is valid? [False, False] Translation: X:7.59, Y:0.02, Z:-1.10 [[ 9.99940180e-01 5.79906012e-03 -9.27397309e-03 7.59187265e+00] [-5.74789604e-03 9.99968167e-01 5.53412374e-03 2.39954560e-02] [ 9.30577059e-03 -5.48048686e-03 9.99941682e-01 -1.10339232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54719347 meters Centerline goodness : 0.908528 Centerline is valid? [False, False] Translation: X:7.59, Y:0.03, Z:-1.10 [[ 9.99920288e-01 8.43647389e-03 -9.39375355e-03 7.59269066e+00] [-8.37010689e-03 9.99939891e-01 7.08205587e-03 2.98985829e-02] [ 9.45293648e-03 -7.00286463e-03 9.99930799e-01 -1.10384191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57719347 meters Centerline goodness : 0.907205 Centerline is valid? [False, False] Translation: X:7.59, Y:0.04, Z:-1.10 [[ 0.99989463 0.01101466 -0.00945563 7.59319166] [-0.0109334 0.99990322 0.00860253 0.03629827] [ 0.00954947 -0.00849824 0.99991829 -1.1040535 ] [ 0. 0. 0. 1. ]] SLAMing on 72.60719347 meters Centerline goodness : 0.907525 Centerline is valid? [False, False] Translation: X:7.59, Y:0.04, Z:-1.10 [[ 0.99986729 0.01325602 -0.00946962 7.5933526 ] [-0.01316221 0.99986435 0.00990116 0.04267278] [ 0.00959959 -0.00977521 0.99990614 -1.10398325] [ 0. 0. 0. 1. ]] SLAMing on 72.63719347 meters Centerline goodness : 0.906201 Centerline is valid? [False, False] Translation: X:7.61, Y:0.05, Z:-1.10 [[ 9.99922092e-01 1.01877469e-02 -7.21242589e-03 7.61042197e+00] [-1.01548705e-02 9.99937948e-01 4.58034708e-03 5.46978312e-02] [ 7.25864176e-03 -4.50674899e-03 9.99963500e-01 -1.10429683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66719347 meters Centerline goodness : 0.907369 Centerline is valid? [False, False] Translation: X:7.61, Y:0.06, Z:-1.10 [[ 9.99928771e-01 9.32485614e-03 -7.44988141e-03 7.61100492e+00] [-9.30216717e-03 9.99952008e-01 3.07441687e-03 5.88188489e-02] [ 7.47819237e-03 -3.00489784e-03 9.99967523e-01 -1.10425835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69719347 meters Centerline goodness : 0.907702 Centerline is valid? [False, False] Translation: X:7.61, Y:0.06, Z:-1.10 [[ 9.99936765e-01 8.36708848e-03 -7.51382083e-03 7.61113729e+00] [-8.35707935e-03 9.99964151e-01 1.36250655e-03 6.32666927e-02] [ 7.52495168e-03 -1.29962680e-03 9.99970843e-01 -1.10411060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72719347 meters Centerline goodness : 0.905128 Centerline is valid? [False, False] Translation: X:7.61, Y:0.07, Z:-1.11 [[ 9.99943473e-01 7.01748106e-03 -7.98787092e-03 7.61283367e+00] [-7.02267050e-03 9.99975147e-01 -6.21802116e-04 7.34506757e-02] [ 7.98330891e-03 6.77863153e-04 9.99967903e-01 -1.10519850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75719347 meters Centerline goodness : 0.902096 Centerline is valid? [False, False] Translation: X:7.62, Y:0.08, Z:-1.11 [[ 9.99937575e-01 7.03227643e-03 -8.68295264e-03 7.61547064e+00] [-7.04007455e-03 9.99974842e-01 -8.67857229e-04 7.73164088e-02] [ 8.67663118e-03 9.28931687e-04 9.99961926e-01 -1.10680534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78719347 meters Centerline goodness : 0.903660 Centerline is valid? [False, False] Translation: X:7.62, Y:0.08, Z:-1.11 [[ 9.99937293e-01 6.56254085e-03 -9.07435372e-03 7.61720068e+00] [-6.57879006e-03 9.99976807e-01 -1.76198483e-03 8.10370395e-02] [ 9.06258016e-03 1.82157261e-03 9.99957275e-01 -1.10794471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81719347 meters Centerline goodness : 0.903183 Centerline is valid? [False, False] Translation: X:7.62, Y:0.09, Z:-1.11 [[ 9.99919037e-01 7.96905191e-03 -9.92039296e-03 7.61960227e+00] [-7.98021310e-03 9.99967568e-01 -1.08599887e-03 8.95213485e-02] [ 9.91141684e-03 1.16507780e-03 9.99950202e-01 -1.10892608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84719347000001 meters Centerline goodness : 0.904252 Centerline is valid? [False, False] Translation: X:7.62, Y:0.09, Z:-1.11 [[ 9.99899141e-01 1.03096596e-02 -9.76820321e-03 7.61890919e+00] [-1.03030995e-02 9.99946661e-01 7.21665464e-04 9.36242082e-02] [ 9.77512231e-03 -6.20949908e-04 9.99952030e-01 -1.10828444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87719347 meters Centerline goodness : 0.904881 Centerline is valid? [False, False] Translation: X:7.62, Y:0.10, Z:-1.11 [[ 9.99873175e-01 1.26655712e-02 -9.65488604e-03 7.61823144e+00] [-1.26398867e-02 9.99916423e-01 2.71665430e-03 9.73768253e-02] [ 9.68848710e-03 -2.59427309e-03 9.99949700e-01 -1.10750775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90719347 meters Centerline goodness : 0.905872 Centerline is valid? [False, False] Translation: X:7.62, Y:0.11, Z:-1.11 [[ 9.99838416e-01 1.53059403e-02 -9.42704847e-03 7.61751066e+00] [-1.52753320e-02 9.99877845e-01 3.31034509e-03 1.07244480e-01] [ 9.47656486e-03 -3.16580889e-03 9.99950085e-01 -1.10630750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93719347 meters Centerline goodness : 0.905633 Centerline is valid? [False, False] Translation: X:7.62, Y:0.11, Z:-1.11 [[ 9.99789185e-01 1.82309556e-02 -9.44554851e-03 7.61744270e+00] [-1.81798219e-02 9.99819763e-01 5.47140816e-03 1.11541782e-01] [ 9.54359507e-03 -5.29853632e-03 9.99940421e-01 -1.10586969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96719347 meters Centerline goodness : 0.910511 Centerline is valid? [False, False] Translation: X:7.62, Y:0.12, Z:-1.11 [[ 9.99732029e-01 2.11326104e-02 -9.44894345e-03 7.61728772e+00] [-2.10614029e-02 9.99749501e-01 7.57308597e-03 1.15607757e-01] [ 9.60661558e-03 -7.37204860e-03 9.99926680e-01 -1.10532597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99719347 meters Centerline goodness : 0.908372 Centerline is valid? [False, False] Translation: X:7.62, Y:0.12, Z:-1.11 [[ 0.9996681 0.02400934 -0.0093407 7.61751562] [-0.02393049 0.99967779 0.0084644 0.12411014] [ 0.00954091 -0.00823806 0.99992055 -1.10515524] [ 0. 0. 0. 1. ]] SLAMing on 73.02719347 meters Centerline goodness : 0.908035 Centerline is valid? [False, False] Translation: X:7.62, Y:0.13, Z:-1.11 [[ 0.99957966 0.0274098 -0.00944456 7.61809466] [-0.02730529 0.99956637 0.01102261 0.12819056] [ 0.00974259 -0.01076009 0.99989465 -1.10528157] [ 0. 0. 0. 1. ]] SLAMing on 73.05719347 meters Centerline goodness : 0.917338 Centerline is valid? [False, False] Translation: X:7.62, Y:0.13, Z:-1.11 [[ 0.99947752 0.03088624 -0.00952512 7.61850645] [-0.03075633 0.99943579 0.01349604 0.13296363] [ 0.00993659 -0.01319603 0.99986356 -1.10509728] [ 0. 0. 0. 1. ]] SLAMing on 73.08719347 meters Centerline goodness : 0.911973 Centerline is valid? [False, False] Translation: X:7.62, Y:0.14, Z:-1.11 [[ 0.99935062 0.03467874 -0.00978397 7.61952137] [-0.03451755 0.99927296 0.01618924 0.13758579] [ 0.01033828 -0.015841 0.99982108 -1.10516679] [ 0. 0. 0. 1. ]] SLAMing on 73.11719347 meters Centerline goodness : 0.912968 Centerline is valid? [False, False] Translation: X:7.63, Y:0.14, Z:-1.10 [[ 0.99896201 0.04372386 -0.01277213 7.62677558] [-0.04345809 0.99884708 0.02039362 0.14492051] [ 0.01364909 -0.0198174 0.99971044 -1.10461354] [ 0. 0. 0. 1. ]] SLAMing on 73.14719347 meters Centerline goodness : 0.912340 Centerline is valid? [False, False] Translation: X:7.63, Y:0.15, Z:-1.10 [[ 0.99876473 0.04795895 -0.01299853 7.6280277 ] [-0.04764485 0.99858826 0.02348313 0.14789136] [ 0.01410641 -0.02283481 0.99963973 -1.10495313] [ 0. 0. 0. 1. ]] SLAMing on 73.17719347 meters Centerline goodness : 0.913935 Centerline is valid? [False, False] Translation: X:7.63, Y:0.15, Z:-1.10 [[ 0.99847252 0.05288772 -0.01598473 7.6344767 ] [-0.05249132 0.99832625 0.02427688 0.15148113] [ 0.01724192 -0.02340074 0.99957747 -1.10291513] [ 0. 0. 0. 1. ]] SLAMing on 73.20719347 meters Centerline goodness : 0.912777 Centerline is valid? [False, False] Translation: X:7.64, Y:0.15, Z:-1.10 [[ 0.99825164 0.05688447 -0.0160565 7.63519289] [-0.05643158 0.99803109 0.02737539 0.15481886] [ 0.01758212 -0.02642144 0.99949626 -1.10289451] [ 0. 0. 0. 1. ]] SLAMing on 73.23719347000001 meters Centerline goodness : 0.913260 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99800288 0.06108832 -0.01607676 7.63540443] [-0.06058362 0.99770608 0.03020266 0.15980296] [ 0.01788491 -0.02916835 0.9994145 -1.10203477] [ 0. 0. 0. 1. ]] SLAMing on 73.26719347 meters Centerline goodness : 0.909091 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99799601 0.06111389 -0.0164028 7.63631382] [-0.06060232 0.99770935 0.03005695 0.16006808] [ 0.01820213 -0.02900267 0.99941359 -1.10231756] [ 0. 0. 0. 1. ]] SLAMing on 73.29719347 meters Centerline goodness : 0.910285 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99817588 0.05789934 -0.01710498 7.63822074] [-0.05743449 0.99799694 0.0265213 0.15992169] [ 0.01860628 -0.0254905 0.9995019 -1.10337893] [ 0. 0. 0. 1. ]] SLAMing on 73.32719347 meters Centerline goodness : 0.910285 Centerline is valid? [False, False] Translation: X:7.64, Y:0.16, Z:-1.10 [[ 0.99817588 0.05789934 -0.01710498 7.63822074] [-0.05743449 0.99799694 0.0265213 0.15992169] [ 0.01860628 -0.0254905 0.9995019 -1.10337893] [ 0. 0. 0. 1. ]] SLAMing on 73.35719347 meters Centerline goodness : 0.907105 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:-1.11 [[ 0.99845069 0.0519352 -0.01997364 7.66177852] [-0.05143236 0.99836564 0.024915 0.1550722 ] [ 0.02123496 -0.02384911 0.99949002 -1.10689745] [ 0. 0. 0. 1. ]] SLAMing on 73.38719347 meters Centerline goodness : 0.902962 Centerline is valid? [False, False] Translation: X:7.67, Y:0.15, Z:-1.11 [[ 0.99873778 0.04786881 -0.01521253 7.67494642] [-0.04739363 0.99841977 0.03019627 0.15206742] [ 0.01663395 -0.02943718 0.99942822 -1.1112998 ] [ 0. 0. 0. 1. ]] SLAMing on 73.41719347 meters Centerline goodness : 0.901771 Centerline is valid? [False, False] Translation: X:7.68, Y:0.15, Z:-1.11 [[ 0.9988402 0.04539606 -0.0160456 7.677107 ] [-0.04493881 0.99860306 0.02779273 0.15057009] [ 0.01728487 -0.02703943 0.99948492 -1.1121025 ] [ 0. 0. 0. 1. ]] SLAMing on 73.44719347 meters Centerline goodness : 0.904019 Centerline is valid? [False, False] Translation: X:7.69, Y:0.14, Z:-1.11 [[ 0.99905654 0.04156512 -0.01258476 7.6925769 ] [-0.04116715 0.99869018 0.03038389 0.1439107 ] [ 0.01383119 -0.02983714 0.99945908 -1.11186202] [ 0. 0. 0. 1. ]] SLAMing on 73.47719347 meters Centerline goodness : 0.900927 Centerline is valid? [False, False] Translation: X:7.71, Y:0.14, Z:-1.11 [[ 0.99925883 0.03735777 -0.00928344 7.70874157] [-0.03704589 0.99880879 0.03175859 0.13917369] [ 0.01045881 -0.03139114 0.99945245 -1.11213913] [ 0. 0. 0. 1. ]] SLAMing on 73.50719347 meters Centerline goodness : 0.898039 Centerline is valid? [False, False] Translation: X:7.73, Y:0.13, Z:-1.11 [[ 9.99440132e-01 3.27609381e-02 -6.79289362e-03 7.72553866e+00] [-3.25140232e-02 9.98901869e-01 3.37326968e-02 1.33422244e-01] [ 7.89054892e-03 -3.34929467e-02 9.99407806e-01 -1.11332814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53719347 meters Centerline goodness : 0.900868 Centerline is valid? [False, False] Translation: X:7.74, Y:0.13, Z:-1.11 [[ 9.99618152e-01 2.73224906e-02 -4.12703183e-03 7.74236528e+00] [-2.71621968e-02 9.99022308e-01 3.48804244e-02 1.28237219e-01] [ 5.07601693e-03 -3.47550061e-02 9.99382971e-01 -1.11477915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56719347 meters Centerline goodness : 0.901043 Centerline is valid? [False, False] Translation: X:7.76, Y:0.12, Z:-1.12 [[ 9.99792080e-01 2.02562039e-02 -2.34168861e-03 7.76076686e+00] [-2.01589645e-02 9.99149843e-01 3.59611815e-02 1.18302595e-01] [ 3.06813483e-03 -3.59064984e-02 9.99350444e-01 -1.11685931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59719347000001 meters Centerline goodness : 0.898849 Centerline is valid? [False, False] Translation: X:7.78, Y:0.11, Z:-1.12 [[ 9.99892404e-01 1.46430508e-02 -8.72691758e-04 7.77887641e+00] [-1.46005100e-02 9.99202476e-01 3.71650099e-02 1.13426540e-01] [ 1.41620489e-03 -3.71482694e-02 9.99308761e-01 -1.11869828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62719347 meters Centerline goodness : 0.894524 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.12 [[ 9.99958863e-01 9.03730910e-03 7.74419730e-04 7.79708997e+00] [-9.06021008e-03 9.99236769e-01 3.79972546e-02 1.08944848e-01] [-4.30435735e-04 -3.80027079e-02 9.99277543e-01 -1.12068256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65719347 meters Centerline goodness : 0.893429 Centerline is valid? [False, False] Translation: X:7.82, Y:0.10, Z:-1.12 [[ 9.99999417e-01 -9.83235365e-04 -4.46573137e-04 7.82078569e+00] [ 1.01071893e-03 9.97792410e-01 6.64024525e-02 9.55431776e-02] [ 3.80298047e-04 -6.64028651e-02 9.97792822e-01 -1.12174352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68719347 meters Centerline goodness : 0.894728 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99989062e-01 -4.61711444e-03 -7.47176492e-04 7.82201240e+00] [ 4.65527743e-03 9.97966123e-01 6.35763036e-02 9.27565191e-02] [ 4.52117758e-04 -6.35790865e-02 9.97976701e-01 -1.12205395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71719347 meters Centerline goodness : 0.892029 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99966591e-01 -8.12570115e-03 -8.88239595e-04 7.82262979e+00] [ 8.16462545e-03 9.98124194e-01 6.06748066e-02 9.02837757e-02] [ 3.93548084e-04 -6.06800317e-02 9.98157191e-01 -1.12198632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74719347 meters Centerline goodness : 0.899367 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99928383e-01 -1.19277906e-02 -9.78433740e-04 7.82266270e+00] [ 1.19641376e-02 9.98308814e-01 5.68891194e-02 8.93277925e-02] [ 2.98217522e-04 -5.68967513e-02 9.98380023e-01 -1.12131957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77719347 meters Centerline goodness : 0.895088 Centerline is valid? [False, False] Translation: X:7.82, Y:0.09, Z:-1.12 [[ 9.99877727e-01 -1.55824503e-02 -1.31061066e-03 7.82289677e+00] [ 1.56304434e-02 9.98424236e-01 5.38955820e-02 8.59576936e-02] [ 4.68720211e-04 -5.39094775e-02 9.98545717e-01 -1.12032423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80719347 meters Centerline goodness : 0.899907 Centerline is valid? [False, False] Translation: X:7.81, Y:0.09, Z:-1.12 [[ 9.99894745e-01 -1.42277385e-02 -2.84088915e-03 7.81222401e+00] [ 1.43374534e-02 9.98959173e-01 4.33013739e-02 8.56016883e-02] [ 2.22185165e-03 -4.33375473e-02 9.99058017e-01 -1.11778302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83719347 meters Centerline goodness : 0.898113 Centerline is valid? [False, False] Translation: X:7.81, Y:0.08, Z:-1.12 [[ 9.99865005e-01 -1.62582179e-02 -2.37538649e-03 7.81081352e+00] [ 1.63420140e-02 9.99024462e-01 4.10251430e-02 8.46439935e-02] [ 1.70607350e-03 -4.10584234e-02 9.99155291e-01 -1.11650014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86719347 meters Centerline goodness : 0.902753 Centerline is valid? [False, False] Translation: X:7.81, Y:0.08, Z:-1.12 [[ 9.99862692e-01 -1.64307231e-02 -2.15143944e-03 7.80994044e+00] [ 1.65061607e-02 9.98994153e-01 4.16920772e-02 8.21857255e-02] [ 1.46424444e-03 -4.17218646e-02 9.99128191e-01 -1.11548629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89719347 meters Centerline goodness : 0.902291 Centerline is valid? [False, False] Translation: X:7.80, Y:0.08, Z:-1.11 [[ 9.99894681e-01 -1.36470382e-02 -4.93814829e-03 7.79898149e+00] [ 1.38025020e-02 9.99361623e-01 3.29520501e-02 8.28886003e-02] [ 4.48529800e-03 -3.30167384e-02 9.99444734e-01 -1.11233476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92719347 meters Centerline goodness : 0.901721 Centerline is valid? [False, False] Translation: X:7.80, Y:0.08, Z:-1.11 [[ 9.99891737e-01 -1.37513156e-02 -5.23596641e-03 7.79981871e+00] [ 1.39166734e-02 9.99359242e-01 3.29762245e-02 8.26825050e-02] [ 4.77914495e-03 -3.30455216e-02 9.99442421e-01 -1.11266017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95719347 meters Centerline goodness : 0.900688 Centerline is valid? [False, False] Translation: X:7.78, Y:0.08, Z:-1.11 [[ 0.99990495 -0.01012473 -0.00935882 7.78491361] [ 0.01044094 0.9993543 0.03437976 0.0809915 ] [ 0.0090047 -0.03447421 0.99936502 -1.11376749] [ 0. 0. 0. 1. ]] SLAMing on 73.98719347000001 meters Centerline goodness : 0.894408 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990443 -0.01013553 -0.0094018 7.78543808] [ 0.01045532 0.99934609 0.03461337 0.0790551 ] [ 0.00904483 -0.03470836 0.99935655 -1.11419202] [ 0. 0. 0. 1. ]] SLAMing on 74.01719347 meters Centerline goodness : 0.897078 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990017 -0.01037045 -0.00959714 7.78570299] [ 0.01069476 0.99935154 0.03438213 0.07879178] [ 0.00923435 -0.03448134 0.99936268 -1.11394302] [ 0. 0. 0. 1. ]] SLAMing on 74.04719347 meters Centerline goodness : 0.895787 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990079 -0.01018678 -0.00972778 7.78606134] [ 0.01051416 0.99935911 0.03421728 0.07973837] [ 0.00937298 -0.03431616 0.99936707 -1.11396358] [ 0. 0. 0. 1. ]] SLAMing on 74.07719347 meters Centerline goodness : 0.894204 Centerline is valid? [False, False] Translation: X:7.79, Y:0.08, Z:-1.11 [[ 0.99990268 -0.00980875 -0.0099207 7.78658073] [ 0.01013895 0.9993772 0.03379972 0.08252632] [ 0.00958299 -0.03389701 0.99937939 -1.11390323] [ 0. 0. 0. 1. ]] SLAMing on 74.10719347 meters Centerline goodness : 0.899145 Centerline is valid? [False, False] Translation: X:7.78, Y:0.09, Z:-1.11 [[ 9.99937517e-01 -1.99751595e-03 -1.09986993e-02 7.78162448e+00] [ 2.25295159e-03 9.99726888e-01 2.32609697e-02 9.04814749e-02] [ 1.09492313e-02 -2.32842958e-02 9.99668923e-01 -1.11114450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13719347 meters Centerline goodness : 0.901118 Centerline is valid? [False, False] Translation: X:7.79, Y:0.09, Z:-1.11 [[ 9.99983912e-01 5.31727251e-04 -5.64740978e-03 7.79220075e+00] [-4.39039444e-04 9.99865398e-01 1.64010230e-02 9.44203660e-02] [ 5.65537050e-03 -1.63982797e-02 9.99849545e-01 -1.11374855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16719347 meters Centerline goodness : 0.898868 Centerline is valid? [False, False] Translation: X:7.79, Y:0.10, Z:-1.11 [[ 9.99978035e-01 2.37448518e-03 -6.18801512e-03 7.79448079e+00] [-2.26755624e-03 9.99848979e-01 1.72301053e-02 9.66897360e-02] [ 6.22799323e-03 -1.72156952e-02 9.99832402e-01 -1.11495471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19719347 meters Centerline goodness : 0.899275 Centerline is valid? [False, False] Translation: X:7.79, Y:0.10, Z:-1.11 [[ 9.99959955e-01 6.40486424e-03 -6.25021792e-03 7.79441790e+00] [-6.28105473e-03 9.99787556e-01 1.96313720e-02 1.01181688e-01] [ 6.37462637e-03 -1.95913279e-02 9.99787749e-01 -1.11410726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22719347 meters Centerline goodness : 0.904297 Centerline is valid? [False, False] Translation: X:7.79, Y:0.10, Z:-1.11 [[ 9.99956572e-01 6.62286953e-03 -6.55676165e-03 7.79486100e+00] [-6.49734309e-03 9.99798671e-01 1.89842528e-02 1.04682074e-01] [ 6.68117181e-03 -1.89408268e-02 9.99798283e-01 -1.11360111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25719347 meters Centerline goodness : 0.907148 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.11 [[ 9.99952971e-01 6.73778761e-03 -6.97550517e-03 7.79529626e+00] [-6.60996531e-03 9.99812733e-01 1.81881288e-02 1.08582306e-01] [ 7.09674663e-03 -1.81411656e-02 9.99810249e-01 -1.11276031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28719347 meters Centerline goodness : 0.904400 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.11 [[ 9.99949113e-01 6.88151729e-03 -7.37674481e-03 7.79615223e+00] [-6.75227522e-03 9.99825735e-01 1.74042159e-02 1.12307488e-01] [ 7.49522672e-03 -1.73535204e-02 9.99821322e-01 -1.11255141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31719347 meters Centerline goodness : 0.905098 Centerline is valid? [False, False] Translation: X:7.80, Y:0.11, Z:-1.11 [[ 0.99993017 0.00856393 -0.00814311 7.79939216] [-0.00841648 0.99980307 0.01797163 0.1148239 ] [ 0.00829541 -0.01790184 0.99980534 -1.11449788] [ 0. 0. 0. 1. ]] SLAMing on 74.34719347000001 meters Centerline goodness : 0.905511 Centerline is valid? [False, False] Translation: X:7.80, Y:0.12, Z:-1.12 [[ 9.99936634e-01 7.25127499e-03 -8.61092128e-03 7.80233609e+00] [-7.11124773e-03 9.99843769e-01 1.61823561e-02 1.15639357e-01] [ 8.72691870e-03 -1.61200963e-02 9.99831978e-01 -1.11686883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37719347 meters Centerline goodness : 0.903631 Centerline is valid? [False, False] Translation: X:7.81, Y:0.12, Z:-1.12 [[ 9.99940682e-01 5.85268617e-03 -9.18581970e-03 7.80514347e+00] [-5.71892461e-03 9.99878209e-01 1.45210760e-02 1.16270484e-01] [ 9.26968825e-03 -1.44676817e-02 9.99852369e-01 -1.11884829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40719347 meters Centerline goodness : 0.900960 Centerline is valid? [False, False] Translation: X:7.82, Y:0.12, Z:-1.12 [[ 9.99971814e-01 1.53521901e-03 -7.34942286e-03 7.81591934e+00] [-1.37686251e-03 9.99767823e-01 2.15035757e-02 1.15925959e-01] [ 7.38072919e-03 -2.14928504e-02 9.99741758e-01 -1.12083419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43719347 meters Centerline goodness : 0.905227 Centerline is valid? [False, False] Translation: X:7.82, Y:0.12, Z:-1.12 [[ 9.99967517e-01 -1.05752583e-03 -7.99038004e-03 7.81792184e+00] [ 1.20679579e-03 9.99824420e-01 1.86995418e-02 1.16173394e-01] [ 7.96920184e-03 -1.87085771e-02 9.99793219e-01 -1.12150160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46719347 meters Centerline goodness : 0.904218 Centerline is valid? [False, False] Translation: X:7.82, Y:0.12, Z:-1.12 [[ 9.99957881e-01 -3.07961042e-03 -8.64588736e-03 7.82043937e+00] [ 3.22287347e-03 9.99856928e-01 1.66053426e-02 1.15756487e-01] [ 8.59351239e-03 -1.66325078e-02 9.99824740e-01 -1.12277617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49719347 meters Centerline goodness : 0.911722 Centerline is valid? [False, False] Translation: X:7.82, Y:0.11, Z:-1.13 [[ 9.99949356e-01 -3.54656659e-03 -9.41841475e-03 7.82421712e+00] [ 3.69916381e-03 9.99861372e-01 1.62343166e-02 1.13583941e-01] [ 9.35953301e-03 -1.62683347e-02 9.99823855e-01 -1.12524501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52719347 meters Centerline goodness : 0.905053 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99946990e-01 -2.85621502e-03 -9.89241314e-03 7.82642281e+00] [ 3.02586513e-03 9.99847882e-01 1.71772226e-02 1.11864786e-01] [ 9.84184648e-03 -1.72062452e-02 9.99803522e-01 -1.12686206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55719347 meters Centerline goodness : 0.906268 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99937606e-01 -3.79434495e-03 -1.05065096e-02 7.82969961e+00] [ 3.96391892e-03 9.99861458e-01 1.61663897e-02 1.10615046e-01] [ 1.04437131e-02 -1.62070279e-02 9.99814113e-01 -1.12922419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58719347 meters Centerline goodness : 0.906008 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99925457e-01 -5.08715697e-03 -1.10995911e-02 7.83251632e+00] [ 5.25023940e-03 9.99877969e-01 1.47133211e-02 1.09706365e-01] [ 1.10233876e-02 -1.47704998e-02 9.99830144e-01 -1.13101217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61719347 meters Centerline goodness : 0.906203 Centerline is valid? [False, False] Translation: X:7.83, Y:0.11, Z:-1.13 [[ 9.99924523e-01 -4.61141117e-03 -1.13878646e-02 7.83342086e+00] [ 4.78754742e-03 9.99868584e-01 1.54884968e-02 1.07880849e-01] [ 1.13149442e-02 -1.55418477e-02 9.99815194e-01 -1.13135573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64719347 meters Centerline goodness : 0.904542 Centerline is valid? [False, False] Translation: X:7.85, Y:0.10, Z:-1.13 [[ 9.99948804e-01 -5.84225867e-03 -8.26174534e-03 7.85073411e+00] [ 6.00584621e-03 9.99783610e-01 1.99164059e-02 1.03740741e-01] [ 8.14360078e-03 -1.99650050e-02 9.99767513e-01 -1.13203148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67719347 meters Centerline goodness : 0.903965 Centerline is valid? [False, False] Translation: X:7.85, Y:0.10, Z:-1.13 [[ 0.99991998 -0.00931404 -0.00856068 7.85135852] [ 0.00945563 0.99981665 0.01665076 0.10239504] [ 0.00840402 -0.01673038 0.99982472 -1.13173883] [ 0. 0. 0. 1. ]] SLAMing on 74.70719347 meters Centerline goodness : 0.900612 Centerline is valid? [False, False] Translation: X:7.86, Y:0.10, Z:-1.14 [[ 9.99919248e-01 -1.21320485e-02 -3.78284242e-03 7.86396555e+00] [ 1.22197801e-02 9.99634810e-01 2.41023435e-02 9.72862813e-02] [ 3.48905017e-03 -2.41466227e-02 9.99702339e-01 -1.13587853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73719347000001 meters Centerline goodness : 0.907225 Centerline is valid? [False, False] Translation: X:7.89, Y:0.09, Z:-1.14 [[ 9.99802297e-01 -1.98734866e-02 6.41268800e-04 7.89214036e+00] [ 1.98414405e-02 9.99256641e-01 3.30527336e-02 8.90017580e-02] [-1.29766517e-03 -3.30334753e-02 9.99453403e-01 -1.13974311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76719347 meters Centerline goodness : 0.900580 Centerline is valid? [False, False] Translation: X:7.91, Y:0.09, Z:-1.14 [[ 9.99743627e-01 -2.23215538e-02 3.79859843e-03 7.90898239e+00] [ 2.21696610e-02 9.99099042e-01 3.61885382e-02 8.65360011e-02] [-4.60296045e-03 -3.60950468e-02 9.99337761e-01 -1.14116323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79719347 meters Centerline goodness : 0.906086 Centerline is valid? [False, False] Translation: X:7.93, Y:0.09, Z:-1.14 [[ 9.99674465e-01 -2.48086920e-02 5.95760601e-03 7.92724193e+00] [ 2.45654465e-02 9.98978813e-01 3.79192613e-02 8.54235512e-02] [-6.89224946e-03 -3.77605660e-02 9.99263047e-01 -1.14217205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82719347 meters Centerline goodness : 0.903114 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.14 [[ 9.99602693e-01 -2.76099709e-02 5.66973888e-03 7.92848554e+00] [ 2.73931914e-02 9.99001550e-01 3.52918783e-02 8.33099565e-02] [-6.63848566e-03 -3.51225443e-02 9.99360965e-01 -1.14217262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85719347 meters Centerline goodness : 0.909002 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.14 [[ 9.99534363e-01 -3.00760301e-02 5.14687604e-03 7.93058401e+00] [ 2.98924986e-02 9.99020142e-01 3.26373307e-02 8.25209198e-02] [-6.12343418e-03 -3.24682806e-02 9.99454008e-01 -1.14316840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88719347 meters Centerline goodness : 0.905293 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.14 [[ 9.99489982e-01 -3.15870802e-02 4.69376759e-03 7.93297756e+00] [ 3.14262031e-02 9.99021893e-01 3.11070908e-02 8.21782016e-02] [-5.67175875e-03 -3.09437184e-02 9.99505036e-01 -1.14466995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91719347 meters Centerline goodness : 0.909093 Centerline is valid? [False, False] Translation: X:7.93, Y:0.08, Z:-1.15 [[ 9.99496660e-01 -3.14293067e-02 4.31580338e-03 7.93415461e+00] [ 3.12784159e-02 9.99015975e-01 3.14442621e-02 8.16003120e-02] [-5.29982788e-03 -3.12934435e-02 9.99496189e-01 -1.14515909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94719347 meters Centerline goodness : 0.903645 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99520904e-01 -3.07170967e-02 3.79757362e-03 7.93597192e+00] [ 3.05793320e-02 9.99014675e-01 3.21649493e-02 8.11223996e-02] [-4.78184564e-03 -3.20334119e-02 9.99475360e-01 -1.14615642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97719347 meters Centerline goodness : 0.899541 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99557911e-01 -2.95264664e-02 3.48848953e-03 7.93689233e+00] [ 2.93975638e-02 9.99038155e-01 3.25353224e-02 8.15774942e-02] [-4.44578725e-03 -3.24183859e-02 9.99464498e-01 -1.14631742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00719347 meters Centerline goodness : 0.901545 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99578082e-01 -2.88611725e-02 3.26972776e-03 7.93743646e+00] [ 2.87397701e-02 9.99057767e-01 3.25208363e-02 8.26985152e-02] [-4.20523638e-03 -3.24131439e-02 9.99465709e-01 -1.14620550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03719347 meters Centerline goodness : 0.899096 Centerline is valid? [False, False] Translation: X:7.94, Y:0.08, Z:-1.15 [[ 9.99618466e-01 -2.74744236e-02 2.84210574e-03 7.93903576e+00] [ 2.73661199e-02 9.99083301e-01 3.29188970e-02 8.44529689e-02] [-3.74392810e-03 -3.28285599e-02 9.99453985e-01 -1.14719907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06719347 meters Centerline goodness : 0.900385 Centerline is valid? [False, False] Translation: X:7.94, Y:0.09, Z:-1.15 [[ 9.99815066e-01 -1.88594926e-02 3.76221062e-03 7.94084577e+00] [ 1.87675671e-02 9.99556247e-01 2.31319801e-02 8.82462235e-02] [-4.19679853e-03 -2.30570946e-02 9.99725341e-01 -1.14855253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09719347000001 meters Centerline goodness : 0.896069 Centerline is valid? [False, False] Translation: X:7.94, Y:0.09, Z:-1.15 [[ 9.99842240e-01 -1.74853945e-02 3.12361906e-03 7.94344816e+00] [ 1.74050181e-02 9.99557248e-01 2.41324271e-02 8.86012813e-02] [-3.54420107e-03 -2.40742533e-02 9.99703891e-01 -1.15038919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12719347 meters Centerline goodness : 0.890916 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.15 [[ 9.99858826e-01 -1.66100939e-02 2.53622386e-03 7.94572258e+00] [ 1.65417377e-02 9.99552100e-01 2.49393418e-02 8.81581229e-02] [-2.94933269e-03 -2.48938675e-02 9.99685749e-01 -1.15192000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15719347 meters Centerline goodness : 0.888733 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.15 [[ 9.99828204e-01 -1.84384594e-02 1.89365514e-03 7.94896489e+00] [ 1.83900157e-02 9.99565790e-01 2.30225877e-02 8.75127411e-02] [-2.31733395e-03 -2.29838082e-02 9.99733152e-01 -1.15436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18719347 meters Centerline goodness : 0.888835 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.16 [[ 9.99777362e-01 -2.10526337e-02 1.41888430e-03 7.95147201e+00] [ 2.10188344e-02 9.99565377e-01 2.06704215e-02 8.57145357e-02] [-1.85343444e-03 -2.06359961e-02 9.99785337e-01 -1.15613562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21719347 meters Centerline goodness : 0.888835 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:-1.16 [[ 9.99777362e-01 -2.10526337e-02 1.41888430e-03 7.95147201e+00] [ 2.10188344e-02 9.99565377e-01 2.06704215e-02 8.57145357e-02] [-1.85343444e-03 -2.06359961e-02 9.99785337e-01 -1.15613562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24719347 meters Centerline goodness : 0.883548 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99606183e-01 -2.75990504e-02 5.07657211e-03 7.96822996e+00] [ 2.74847611e-02 9.99394165e-01 2.13515873e-02 8.03022247e-02] [-5.66278008e-03 -2.12036503e-02 9.99759140e-01 -1.15793304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27719347 meters Centerline goodness : 0.885502 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99506112e-01 -3.10183819e-02 5.03908481e-03 7.96884810e+00] [ 3.09224640e-02 9.99357678e-01 1.81116842e-02 7.90016683e-02] [-5.59764323e-03 -1.79469182e-02 9.99823272e-01 -1.15779302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30719347 meters Centerline goodness : 0.883159 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99436659e-01 -3.32603613e-02 4.48476110e-03 7.97135782e+00] [ 3.31855183e-02 9.99323665e-01 1.58408930e-02 7.79824283e-02] [-5.00860172e-03 -1.56831401e-02 9.99864467e-01 -1.15915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33719347 meters Centerline goodness : 0.881478 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99443808e-01 -3.30833580e-02 4.19125229e-03 7.97216655e+00] [ 3.30109704e-02 9.99322056e-01 1.63004514e-02 7.69374329e-02] [-4.72768452e-03 -1.61530279e-02 9.99858354e-01 -1.15918714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36719347 meters Centerline goodness : 0.879811 Centerline is valid? [False, False] Translation: X:7.97, Y:0.08, Z:-1.16 [[ 9.99358015e-01 -3.56421937e-02 3.63208082e-03 7.97431383e+00] [ 3.55901339e-02 9.99275137e-01 1.35108257e-02 7.72872245e-02] [-4.11100353e-03 -1.33728857e-02 9.99902128e-01 -1.16007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39719347 meters Centerline goodness : 0.877973 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99357634e-01 -3.56731858e-02 3.42683130e-03 7.97529223e+00] [ 3.56234198e-02 9.99272391e-01 1.36257485e-02 7.68437626e-02] [-3.91041177e-03 -1.34949203e-02 9.99901293e-01 -1.16082316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42719347 meters Centerline goodness : 0.877058 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99360929e-01 -3.56054164e-02 3.16021797e-03 7.97642942e+00] [ 3.55591855e-02 9.99274416e-01 1.36449642e-02 7.70392647e-02] [-3.64375960e-03 -1.35238693e-02 9.99901909e-01 -1.16165556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45719347 meters Centerline goodness : 0.876000 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99388354e-01 -3.48691538e-02 2.65693753e-03 7.97873690e+00] [ 3.48288382e-02 9.99295910e-01 1.39512044e-02 7.83832120e-02] [-3.14153350e-03 -1.38501332e-02 9.99899147e-01 -1.16346325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48719347000001 meters Centerline goodness : 0.869662 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.16 [[ 9.99420208e-01 -3.39821683e-02 2.11178308e-03 7.98094088e+00] [ 3.39477323e-02 9.99316539e-01 1.46289384e-02 7.86392016e-02] [-2.60746281e-03 -1.45487664e-02 9.99890761e-01 -1.16499120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51719347 meters Centerline goodness : 0.872066 Centerline is valid? [False, False] Translation: X:7.98, Y:0.08, Z:-1.17 [[ 9.99446824e-01 -3.32208792e-02 1.55540217e-03 7.98322141e+00] [ 3.31933792e-02 9.99332816e-01 1.52355326e-02 7.89777876e-02] [-2.06050222e-03 -1.51754756e-02 9.99882723e-01 -1.16660776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54719347 meters Centerline goodness : 0.866880 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99472830e-01 -3.24561468e-02 8.13080830e-04 7.98600604e+00] [ 3.24390220e-02 9.99345900e-01 1.59837923e-02 7.89143021e-02] [-1.33132130e-03 -1.59489905e-02 9.99871920e-01 -1.16852419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57719347 meters Centerline goodness : 0.869224 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99496898e-01 -3.17166440e-02 -7.48843898e-05 7.98937542e+00] [ 3.17135957e-02 9.99362060e-01 1.64231787e-02 8.12120218e-02] [-4.46051493e-04 -1.64172910e-02 9.99865128e-01 -1.17087157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60719347 meters Centerline goodness : 0.868036 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99524435e-01 -3.08310904e-02 -5.89496059e-04 7.99127496e+00] [ 3.08366672e-02 9.99377047e-01 1.71644594e-02 8.22817637e-02] [ 5.99298320e-05 -1.71744747e-02 9.99852506e-01 -1.17197509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63719347 meters Centerline goodness : 0.867934 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99516878e-01 -3.10685364e-02 -8.69931313e-04 7.99174693e+00] [ 3.10787526e-02 9.99376639e-01 1.67464603e-02 8.34142019e-02] [ 3.49101021e-04 -1.67654061e-02 9.99859390e-01 -1.17171320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66719347 meters Centerline goodness : 0.866778 Centerline is valid? [False, False] Translation: X:7.99, Y:0.08, Z:-1.17 [[ 9.99513740e-01 -3.11620368e-02 -1.10052571e-03 7.99205443e+00] [ 3.11761297e-02 9.99372940e-01 1.67861605e-02 8.33000279e-02] [ 5.76744665e-04 -1.68123082e-02 9.99858497e-01 -1.17133963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69719347 meters Centerline goodness : 0.866022 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99420392e-01 -3.36435891e-02 5.19516967e-03 8.00157100e+00] [ 3.35070400e-02 9.99139394e-01 2.44489075e-02 8.03812784e-02] [-6.01324767e-03 -2.42606620e-02 9.99687582e-01 -1.17392039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72719347 meters Centerline goodness : 0.865672 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99421408e-01 -3.36250171e-02 5.11937735e-03 8.00187222e+00] [ 3.34891767e-02 9.99135299e-01 2.46399831e-02 8.00702652e-02] [-5.94347048e-03 -2.44542828e-02 9.99683281e-01 -1.17401301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75719347 meters Centerline goodness : 0.864241 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99439440e-01 -3.30961321e-02 5.04490453e-03 8.00222005e+00] [ 3.29637476e-02 9.99158988e-01 2.43866568e-02 8.25307854e-02] [-5.84776572e-03 -2.42066877e-02 9.99689872e-01 -1.17399995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78719347 meters Centerline goodness : 0.864996 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:-1.17 [[ 9.99471453e-01 -3.21928054e-02 4.52082300e-03 8.00345026e+00] [ 3.20729763e-02 9.99186172e-01 2.44605425e-02 8.48617237e-02] [-5.30459731e-03 -2.43026177e-02 9.99690574e-01 -1.17427427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81719347 meters Centerline goodness : 0.866615 Centerline is valid? [False, False] Translation: X:8.00, Y:0.09, Z:-1.17 [[ 9.99591558e-01 -2.82797113e-02 4.12004447e-03 8.00398573e+00] [ 2.81537682e-02 9.99212632e-01 2.79549779e-02 8.62987134e-02] [-4.90735919e-03 -2.78275652e-02 9.99600692e-01 -1.17424470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84719347000001 meters Centerline goodness : 0.864482 Centerline is valid? [False, False] Translation: X:8.00, Y:0.09, Z:-1.17 [[ 9.99701566e-01 -2.41308807e-02 3.80531067e-03 8.00474865e+00] [ 2.39990164e-02 9.99213997e-01 3.15505064e-02 8.78068189e-02] [-4.56366119e-03 -3.14497669e-02 9.99494915e-01 -1.17467186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87719347 meters Centerline goodness : 0.862737 Centerline is valid? [False, False] Translation: X:8.00, Y:0.09, Z:-1.17 [[ 9.99842530e-01 -1.73066540e-02 3.92364237e-03 8.00337130e+00] [ 1.72270135e-02 9.99661512e-01 1.94959561e-02 9.17047990e-02] [-4.25972403e-03 -1.94252934e-02 9.99802237e-01 -1.17395390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90719347 meters Centerline goodness : 0.860934 Centerline is valid? [False, False] Translation: X:8.01, Y:0.10, Z:-1.17 [[ 9.99989409e-01 -3.44231228e-03 3.05478434e-03 8.01406751e+00] [ 3.41453277e-03 9.99953192e-01 9.05286380e-03 9.66885054e-02] [-3.08580414e-03 -9.04233726e-03 9.99954356e-01 -1.17477656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93719347 meters Centerline goodness : 0.863119 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99995962e-01 7.09998095e-04 2.75163272e-03 8.01529204e+00] [-7.45265331e-04 9.99917324e-01 1.28370791e-02 9.79027676e-02] [-2.74229092e-03 -1.28390780e-02 9.99913815e-01 -1.17566877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96719347 meters Centerline goodness : 0.859366 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99996084e-01 1.35943768e-03 2.44635752e-03 8.01626813e+00] [-1.39055596e-03 9.99917572e-01 1.27638287e-02 9.95592092e-02] [-2.42880424e-03 -1.27671806e-02 9.99915546e-01 -1.17599671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99719347 meters Centerline goodness : 0.860629 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99996615e-01 -7.38595556e-04 2.49492226e-03 8.01633945e+00] [ 7.14272020e-04 9.99952348e-01 9.73607856e-03 9.92297376e-02] [-2.50199439e-03 -9.73426355e-03 9.99949491e-01 -1.17552956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02719347 meters Centerline goodness : 0.860617 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99996475e-01 -1.77244199e-03 1.97678340e-03 8.01884036e+00] [ 1.75483166e-03 9.99959076e-01 8.87501510e-03 9.75419731e-02] [-1.99243295e-03 -8.87151490e-03 9.99958662e-01 -1.17726142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05719347 meters Centerline goodness : 0.859863 Centerline is valid? [False, False] Translation: X:8.02, Y:0.10, Z:-1.18 [[ 9.99994594e-01 -2.94371519e-03 1.46519548e-03 8.02162722e+00] [ 2.93196584e-03 9.99964040e-01 7.95753583e-03 9.56387597e-02] [-1.48856751e-03 -7.95319691e-03 9.99967265e-01 -1.17937642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08719347 meters Centerline goodness : 0.856125 Centerline is valid? [False, False] Translation: X:8.03, Y:0.09, Z:-1.18 [[ 9.99995846e-01 -2.79886883e-03 6.88742103e-04 8.02533206e+00] [ 2.79267203e-03 9.99957031e-01 8.83950630e-03 9.01472132e-02] [-7.13453127e-04 -8.83754615e-03 9.99960694e-01 -1.18208006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11719347 meters Centerline goodness : 0.857815 Centerline is valid? [False, False] Translation: X:8.03, Y:0.09, Z:-1.18 [[ 9.99990530e-01 -4.35089556e-03 9.80782957e-05 8.02844866e+00] [ 4.35002337e-03 9.99961591e-01 7.60885405e-03 8.71696999e-02] [-1.31179858e-04 -7.60835535e-03 9.99971047e-01 -1.18450340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14719347 meters Centerline goodness : 0.857588 Centerline is valid? [False, False] Translation: X:8.03, Y:0.08, Z:-1.19 [[ 9.99980036e-01 -6.29412459e-03 -5.58274359e-04 8.03128355e+00] [ 6.29749480e-03 9.99960602e-01 6.25580637e-03 8.29101280e-02] [ 5.18877540e-04 -6.25919721e-03 9.99980276e-01 -1.18644354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17719347 meters Centerline goodness : 0.857865 Centerline is valid? [False, False] Translation: X:8.03, Y:0.08, Z:-1.19 [[ 9.99963144e-01 -8.53849897e-03 -8.96586641e-04 8.03326424e+00] [ 8.54270597e-03 9.99951999e-01 4.79820298e-03 7.78579987e-02] [ 8.55574152e-04 -4.80568542e-03 9.99988087e-01 -1.18789556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20719347 meters Centerline goodness : 0.855966 Centerline is valid? [False, False] Translation: X:8.05, Y:0.07, Z:-1.19 [[ 9.99909706e-01 -1.33189506e-02 1.78503210e-03 8.05047133e+00] [ 1.33027021e-02 9.99872573e-01 8.82471710e-03 6.51803317e-02] [-1.90234061e-03 -8.80017453e-03 9.99959468e-01 -1.19017116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23719347000001 meters Centerline goodness : 0.855605 Centerline is valid? [False, False] Translation: X:8.06, Y:0.06, Z:-1.19 [[ 9.99814918e-01 -1.80429247e-02 6.67694683e-03 8.06373191e+00] [ 1.79479562e-02 9.99740622e-01 1.40199464e-02 5.83315154e-02] [-6.92817582e-03 -1.38975140e-02 9.99879422e-01 -1.19386043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26719347 meters Centerline goodness : 0.854145 Centerline is valid? [False, False] Translation: X:8.06, Y:0.05, Z:-1.19 [[ 9.99750138e-01 -2.13843531e-02 6.50928401e-03 8.06484747e+00] [ 2.13018006e-02 9.99694972e-01 1.24978718e-02 5.15062232e-02] [-6.77455740e-03 -1.23560896e-02 9.99900711e-01 -1.19437798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29719347 meters Centerline goodness : 0.854147 Centerline is valid? [False, False] Translation: X:8.08, Y:0.04, Z:-1.20 [[ 0.99960157 -0.02605092 0.01086535 8.07938193] [ 0.02586281 0.99951908 0.0171089 0.04341586] [-0.01130583 -0.01682107 0.99979459 -1.19846962] [ 0. 0. 0. 1. ]] SLAMing on 76.32719347 meters Centerline goodness : 0.856120 Centerline is valid? [False, False] Translation: X:8.11, Y:0.02, Z:-1.20 [[ 0.99929826 -0.0348361 0.0137634 8.11371229] [ 0.03389485 0.99740331 0.06354354 0.02180286] [-0.01594127 -0.06303244 0.99788416 -1.19659891] [ 0. 0. 0. 1. ]] SLAMing on 76.35719347 meters Centerline goodness : 0.856874 Centerline is valid? [False, False] Translation: X:8.11, Y:0.02, Z:-1.20 [[ 0.99917486 -0.03832139 0.01345606 8.11422618] [ 0.0374218 0.99739171 0.06172017 0.01863351] [-0.01578617 -0.06116569 0.99800278 -1.19514664] [ 0. 0. 0. 1. ]] SLAMing on 76.38719347 meters Centerline goodness : 0.854206 Centerline is valid? [False, False] Translation: X:8.11, Y:0.02, Z:-1.19 [[ 0.99891994 -0.04424463 0.0141906 8.11278323] [ 0.04338628 0.99748975 0.05596283 0.01635599] [-0.01663103 -0.05528671 0.998332 -1.19376872] [ 0. 0. 0. 1. ]] SLAMing on 76.41719347 meters Centerline goodness : 0.852677 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99876022 -0.04776402 0.01402207 8.11372966] [ 0.04694677 0.9974503 0.05374848 0.01237811] [-0.01655356 -0.05302356 0.99845605 -1.193412 ] [ 0. 0. 0. 1. ]] SLAMing on 76.44719347 meters Centerline goodness : 0.857778 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99841544 -0.05417756 0.01521219 8.11191653] [ 0.05341533 0.99747999 0.04669563 0.01144466] [-0.01770371 -0.04580908 0.99879333 -1.19265006] [ 0. 0. 0. 1. ]] SLAMing on 76.47719347 meters Centerline goodness : 0.854708 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99818764 -0.05805283 0.01585259 8.11067969] [ 0.05731058 0.9973938 0.04383043 0.00896149] [-0.01835576 -0.04284247 0.9989132 -1.19087405] [ 0. 0. 0. 1. ]] SLAMing on 76.50719347 meters Centerline goodness : 0.856366 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99816092 -0.05859814 0.01552535 8.11088208] [ 0.05786701 0.99735567 0.04396676 0.00877989] [-0.01806067 -0.0429875 0.99891235 -1.18996583] [ 0. 0. 0. 1. ]] SLAMing on 76.53719347 meters Centerline goodness : 0.854493 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.99792627 -0.06238429 0.01585449 8.11027818] [ 0.06172464 0.99732493 0.03915421 0.01141597] [-0.01825468 -0.0380944 0.99910739 -1.18952323] [ 0. 0. 0. 1. ]] SLAMing on 76.56719347 meters Centerline goodness : 0.855573 Centerline is valid? [False, False] Translation: X:8.11, Y:0.01, Z:-1.19 [[ 0.9977265 -0.06553159 0.01573046 8.11127535] [ 0.06495086 0.99727598 0.03495729 0.01394729] [-0.01797842 -0.03385611 0.999265 -1.1904317 ] [ 0. 0. 0. 1. ]] SLAMing on 76.59719347000001 meters Centerline goodness : 0.852315 Centerline is valid? [False, False] Translation: X:8.12, Y:0.02, Z:-1.19 [[ 0.99751201 -0.06887159 0.01504982 8.11512602] [ 0.06839499 0.99720201 0.03017085 0.01743669] [-0.01708562 -0.02906645 0.99943145 -1.19432177] [ 0. 0. 0. 1. ]] SLAMing on 76.62719347 meters Centerline goodness : 0.851987 Centerline is valid? [False, False] Translation: X:8.12, Y:0.02, Z:-1.20 [[ 0.99724039 -0.07260967 0.01547362 8.11550842] [ 0.07220922 0.99707531 0.02503313 0.02023863] [-0.01724601 -0.02384671 0.99956686 -1.19574233] [ 0. 0. 0. 1. ]] SLAMing on 76.65719347 meters Centerline goodness : 0.854023 Centerline is valid? [False, False] Translation: X:8.12, Y:0.02, Z:-1.20 [[ 0.9972022 -0.07325269 0.01489318 8.11713474] [ 0.07288073 0.99704828 0.02414797 0.02220248] [-0.01661812 -0.02299498 0.99959745 -1.19679338] [ 0. 0. 0. 1. ]] SLAMing on 76.68719347 meters Centerline goodness : 0.849784 Centerline is valid? [False, False] Translation: X:8.11, Y:0.03, Z:-1.19 [[ 9.97408312e-01 -7.17764573e-02 4.97983237e-03 8.11493672e+00] [ 7.16857644e-02 9.97291171e-01 1.64764202e-02 2.83752676e-02] [-6.14896193e-03 -1.60767354e-02 9.99851853e-01 -1.19457626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71719347 meters Centerline goodness : 0.850628 Centerline is valid? [False, False] Translation: X:8.12, Y:0.03, Z:-1.20 [[ 9.97335500e-01 -7.28159290e-02 4.44303024e-03 8.11622816e+00] [ 7.27404973e-02 9.97234013e-01 1.52690430e-02 3.04002964e-02] [-5.54257043e-03 -1.49051704e-02 9.99873550e-01 -1.19512089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74719347 meters Centerline goodness : 0.851840 Centerline is valid? [False, False] Translation: X:8.12, Y:0.03, Z:-1.20 [[ 9.97306961e-01 -7.32392484e-02 3.85194928e-03 8.11764319e+00] [ 7.31739805e-02 9.97206545e-01 1.49891970e-02 3.11103388e-02] [-4.93898655e-03 -1.46669681e-02 9.99880236e-01 -1.19552107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77719347 meters Centerline goodness : 0.852223 Centerline is valid? [False, False] Translation: X:8.12, Y:0.03, Z:-1.20 [[ 9.97265274e-01 -7.38154558e-02 3.64028954e-03 8.11788239e+00] [ 7.37565954e-02 9.97174088e-01 1.42759319e-02 3.23395556e-02] [-4.68378683e-03 -1.39683958e-02 9.99891467e-01 -1.19529747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80719347 meters Centerline goodness : 0.854975 Centerline is valid? [False, False] Translation: X:8.12, Y:0.04, Z:-1.19 [[ 9.97199714e-01 -7.47260763e-02 2.95691895e-03 8.11867545e+00] [ 7.46825396e-02 9.97125211e-01 1.27996516e-02 3.80737628e-02] [-3.90488618e-03 -1.25429787e-02 9.99913709e-01 -1.19497412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83719347 meters Centerline goodness : 0.855735 Centerline is valid? [False, False] Translation: X:8.12, Y:0.04, Z:-1.19 [[ 9.97145200e-01 -7.54723253e-02 2.31902305e-03 8.11956102e+00] [ 7.54407082e-02 9.97083114e-01 1.15742603e-02 4.25197724e-02] [-3.18579506e-03 -1.13662693e-02 9.99930327e-01 -1.19481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86719347 meters Centerline goodness : 0.856323 Centerline is valid? [False, False] Translation: X:8.12, Y:0.05, Z:-1.19 [[ 9.97083635e-01 -7.62912627e-02 1.96650444e-03 8.11944708e+00] [ 7.62679567e-02 9.97037096e-01 1.00113735e-02 4.73689605e-02] [-2.72445820e-03 -9.83219539e-03 9.99947951e-01 -1.19404938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89719347 meters Centerline goodness : 0.855774 Centerline is valid? [False, False] Translation: X:8.12, Y:0.05, Z:-1.19 [[ 9.97055503e-01 -7.66667026e-02 1.59375211e-03 8.11953983e+00] [ 7.66502666e-02 9.97020827e-01 8.61431384e-03 5.17055233e-02] [-2.24943509e-03 -8.46678750e-03 9.99961626e-01 -1.19355731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92719347 meters Centerline goodness : 0.859546 Centerline is valid? [False, False] Translation: X:8.11, Y:0.06, Z:-1.19 [[ 9.97652765e-01 -6.84747981e-02 -4.03142612e-04 8.10956093e+00] [ 6.84758685e-02 9.97644631e-01 4.03063696e-03 5.79135215e-02] [ 1.26196011e-04 -4.04878165e-03 9.99991796e-01 -1.19116228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95719347 meters Centerline goodness : 0.861665 Centerline is valid? [False, False] Translation: X:8.11, Y:0.06, Z:-1.19 [[ 9.97879008e-01 -6.50914612e-02 -7.65599711e-04 8.11002504e+00] [ 6.50947278e-02 9.97863516e-01 5.57486708e-03 6.29067559e-02] [ 4.01087775e-04 -5.61287934e-03 9.99984167e-01 -1.19224442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98719347000001 meters Centerline goodness : 0.862997 Centerline is valid? [False, False] Translation: X:8.10, Y:0.07, Z:-1.19 [[ 9.98475169e-01 -5.48301929e-02 -6.40209489e-03 8.10322567e+00] [ 5.48616277e-02 9.98482226e-01 4.84214687e-03 6.73186197e-02] [ 6.12688211e-03 -5.18599276e-03 9.99967783e-01 -1.19022621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01719347 meters Centerline goodness : 0.861432 Centerline is valid? [False, False] Translation: X:8.10, Y:0.08, Z:-1.19 [[ 9.99121591e-01 -3.97032420e-02 -1.34051745e-02 8.09797299e+00] [ 3.97222734e-02 9.99210090e-01 1.15634794e-03 8.23413350e-02] [ 1.33486749e-02 -1.68781620e-03 9.99909478e-01 -1.18621212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04719347 meters Centerline goodness : 0.859435 Centerline is valid? [False, False] Translation: X:8.10, Y:0.09, Z:-1.19 [[ 9.99311856e-01 -3.42010100e-02 -1.43563705e-02 8.10074503e+00] [ 3.42823274e-02 9.99397291e-01 5.45677124e-03 8.81290054e-02] [ 1.41610907e-02 -5.94518599e-03 9.99882052e-01 -1.18798619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07719347 meters Centerline goodness : 0.859966 Centerline is valid? [False, False] Translation: X:8.10, Y:0.09, Z:-1.19 [[ 0.99945096 -0.02955216 -0.01498147 8.10273459] [ 0.02968571 0.99952079 0.00877194 0.09349375] [ 0.01471506 -0.00921186 0.99984929 -1.18924421] [ 0. 0. 0. 1. ]] SLAMing on 77.10719347 meters Centerline goodness : 0.857083 Centerline is valid? [False, False] Translation: X:8.10, Y:0.10, Z:-1.19 [[ 0.99955808 -0.02535559 -0.01551565 8.10376698] [ 0.02553908 0.99960483 0.01174437 0.09789528] [ 0.01521173 -0.01213543 0.99981065 -1.18959676] [ 0. 0. 0. 1. ]] SLAMing on 77.13719347 meters Centerline goodness : 0.857083 Centerline is valid? [False, False] Translation: X:8.10, Y:0.10, Z:-1.19 [[ 0.99955808 -0.02535559 -0.01551565 8.10376698] [ 0.02553908 0.99960483 0.01174437 0.09789528] [ 0.01521173 -0.01213543 0.99981065 -1.18959676] [ 0. 0. 0. 1. ]] SLAMing on 77.16719347 meters Centerline goodness : 0.858596 Centerline is valid? [False, False] Translation: X:8.11, Y:0.11, Z:-1.19 [[ 9.99731393e-01 -2.01055291e-02 -1.15286050e-02 8.11292547e+00] [ 2.01841000e-02 9.99773562e-01 6.73992897e-03 1.06542900e-01] [ 1.13904847e-02 -6.97081309e-03 9.99910828e-01 -1.19064740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19719347 meters Centerline goodness : 0.857897 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99735805e-01 -1.95213039e-02 -1.21341961e-02 8.11506446e+00] [ 1.96063328e-02 9.99783771e-01 6.92835411e-03 1.09022823e-01] [ 1.19963218e-02 -7.16443076e-03 9.99902375e-01 -1.19189295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22719347 meters Centerline goodness : 0.855094 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99724818e-01 -1.98839746e-02 -1.24465460e-02 8.11595802e+00] [ 1.99643709e-02 9.99780407e-01 6.36873822e-03 1.10871584e-01] [ 1.23171770e-02 -6.61547312e-03 9.99902257e-01 -1.19224537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25719347 meters Centerline goodness : 0.855764 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99708000e-01 -2.04880614e-02 -1.28122298e-02 8.11709406e+00] [ 2.05629930e-02 9.99772057e-01 5.74429995e-03 1.12015386e-01] [ 1.26916198e-02 -6.00608041e-03 9.99901420e-01 -1.19280057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28719347 meters Centerline goodness : 0.853953 Centerline is valid? [False, False] Translation: X:8.12, Y:0.11, Z:-1.19 [[ 9.99663195e-01 -2.22302392e-02 -1.33908059e-02 8.11972154e+00] [ 2.22860708e-02 9.99743493e-01 4.03468456e-03 1.13208885e-01] [ 1.32976790e-02 -4.33175411e-03 9.99902199e-01 -1.19460727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31719347 meters Centerline goodness : 0.854352 Centerline is valid? [False, False] Translation: X:8.13, Y:0.11, Z:-1.20 [[ 9.99637363e-01 -2.56206158e-02 -8.29019047e-03 8.13158619e+00] [ 2.57083642e-02 9.99612679e-01 1.06570519e-02 1.12618446e-01] [ 8.01393927e-03 -1.08663145e-02 9.99908846e-01 -1.19893978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34719347000001 meters Centerline goodness : 0.853191 Centerline is valid? [False, False] Translation: X:8.14, Y:0.11, Z:-1.20 [[ 9.99594478e-01 -2.83261918e-02 -2.91662052e-03 8.14345488e+00] [ 2.83750138e-02 9.99429117e-01 1.83384321e-02 1.11294893e-01] [ 2.39549753e-03 -1.84137546e-02 9.99827583e-01 -1.20319947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37719347 meters Centerline goodness : 0.852995 Centerline is valid? [False, False] Translation: X:8.14, Y:0.11, Z:-1.20 [[ 9.99591632e-01 -2.83900947e-02 -3.25128763e-03 8.14425113e+00] [ 2.84450947e-02 9.99426961e-01 1.83473938e-02 1.11777077e-01] [ 2.72854027e-03 -1.84323845e-02 9.99826386e-01 -1.20332899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40719347 meters Centerline goodness : 0.854403 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.20 [[ 9.99582667e-01 -2.86620111e-02 -3.60297379e-03 8.14516896e+00] [ 2.87227562e-02 9.99423136e-01 1.81217644e-02 1.12116863e-01] [ 3.08148915e-03 -1.82176890e-02 9.99829296e-01 -1.20360047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43719347 meters Centerline goodness : 0.850177 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.20 [[ 9.99479964e-01 -3.19613190e-02 -4.27497003e-03 8.14780631e+00] [ 3.20218941e-02 9.99375446e-01 1.49437690e-02 1.11725137e-01] [ 3.79467751e-03 -1.50728904e-02 9.99879197e-01 -1.20480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46719347 meters Centerline goodness : 0.851123 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.21 [[ 9.99374294e-01 -3.50498857e-02 -4.74620196e-03 8.15017299e+00] [ 3.51045448e-02 9.99311965e-01 1.19694730e-02 1.10954821e-01] [ 4.32340774e-03 -1.21285969e-02 9.99917099e-01 -1.20632862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49719347 meters Centerline goodness : 0.851020 Centerline is valid? [False, False] Translation: X:8.15, Y:0.11, Z:-1.21 [[ 9.99252066e-01 -3.83358060e-02 -5.06708778e-03 8.15221593e+00] [ 3.83794071e-02 9.99224424e-01 8.80745871e-03 1.10586757e-01] [ 4.72551684e-03 -8.99534313e-03 9.99948375e-01 -1.20765413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52719347 meters Centerline goodness : 0.853878 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99061595e-01 -4.33119567e-02 6.40705564e-05 8.16094715e+00] [ 4.33043063e-02 9.98910829e-01 1.73750765e-02 1.08423388e-01] [-8.16549334e-04 -1.73559971e-02 9.99849040e-01 -1.21047068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55719347 meters Centerline goodness : 0.853945 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99041176e-01 -4.37795713e-02 2.79460019e-04 8.16056624e+00] [ 4.37682156e-02 9.98892322e-01 1.72763456e-02 1.08628074e-01] [-1.03550147e-03 -1.72475491e-02 9.99850714e-01 -1.20992112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58719347 meters Centerline goodness : 0.855150 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99158639e-01 -4.10120992e-02 1.50343819e-04 8.16046723e+00] [ 4.10001039e-02 9.98942646e-01 2.07986167e-02 1.08113963e-01] [-1.00317979e-03 -2.07749535e-02 9.99783674e-01 -1.20965592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61719347 meters Centerline goodness : 0.856274 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99162382e-01 -4.09207234e-02 -1.68620845e-04 8.16130474e+00] [ 4.09155738e-02 9.98952142e-01 2.05069254e-02 1.09906147e-01] [-6.70714069e-04 -2.04966477e-02 9.99789697e-01 -1.20983609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64719347 meters Centerline goodness : 0.860456 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99251257e-01 -3.86795477e-02 -9.03972022e-04 8.16405067e+00] [ 3.86900544e-02 9.99016513e-01 2.16584010e-02 1.13882407e-01] [ 6.53458229e-05 -2.16771591e-02 9.99765021e-01 -1.21157805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67719347 meters Centerline goodness : 0.860566 Centerline is valid? [False, False] Translation: X:8.16, Y:0.11, Z:-1.21 [[ 9.99405017e-01 -3.44685856e-02 -1.23668057e-03 8.16499427e+00] [ 3.44889354e-02 9.99078609e-01 2.55430169e-02 1.14580489e-01] [ 3.55109436e-04 -2.55704711e-02 9.99672959e-01 -1.21232932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70719347 meters Centerline goodness : 0.862505 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.21 [[ 9.99535431e-01 -3.04371592e-02 -1.58150495e-03 8.16554358e+00] [ 3.04701855e-02 9.99117075e-01 2.89247019e-02 1.16540275e-01] [ 6.99722840e-04 -2.89594532e-02 9.99580342e-01 -1.21243580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73719347000001 meters Centerline goodness : 0.863819 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.21 [[ 9.99654748e-01 -2.62031253e-02 -1.94440810e-03 8.16651450e+00] [ 2.62523361e-02 9.99131891e-01 3.23462263e-02 1.18995701e-01] [ 1.09514793e-03 -3.23861039e-02 9.99474833e-01 -1.21297847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76719347 meters Centerline goodness : 0.863101 Centerline is valid? [False, False] Translation: X:8.16, Y:0.13, Z:-1.21 [[ 9.99859116e-01 -1.67742829e-02 -6.09433725e-04 8.16254362e+00] [ 1.67837901e-02 9.99602000e-01 2.26747731e-02 1.26373962e-01] [ 2.28838111e-04 -2.26818072e-02 9.99742709e-01 -1.21166112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79719347 meters Centerline goodness : 0.867002 Centerline is valid? [False, False] Translation: X:8.16, Y:0.13, Z:-1.21 [[ 9.99876311e-01 -1.56885933e-02 -1.10898518e-03 8.16440411e+00] [ 1.57100308e-02 9.99609723e-01 2.30997097e-02 1.27949719e-01] [ 7.46150413e-04 -2.31142748e-02 9.99732551e-01 -1.21265318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82719347 meters Centerline goodness : 0.866960 Centerline is valid? [False, False] Translation: X:8.16, Y:0.13, Z:-1.21 [[ 9.99880569e-01 -1.54060625e-02 -1.22517385e-03 8.16497710e+00] [ 1.54301106e-02 9.99618063e-01 2.29268572e-02 1.29322616e-01] [ 8.71493310e-04 -2.29430236e-02 9.99736394e-01 -1.21292853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85719347 meters Centerline goodness : 0.869054 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.21 [[ 9.99881184e-01 -1.53643727e-02 -1.24632455e-03 8.16539560e+00] [ 1.53885913e-02 9.99626969e-01 2.25635772e-02 1.30787602e-01] [ 8.99184425e-04 -2.25800754e-02 9.99744633e-01 -1.21317705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88719347 meters Centerline goodness : 0.863879 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99855216e-01 -1.69399539e-02 -1.60805315e-03 8.16782868e+00] [ 1.69699464e-02 9.99636416e-01 2.09536583e-02 1.31237512e-01] [ 1.25251449e-03 -2.09779131e-02 9.99779155e-01 -1.21508968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91719347 meters Centerline goodness : 0.862283 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99813134e-01 -1.92203999e-02 -2.06710539e-03 8.17013616e+00] [ 1.92554838e-02 9.99642366e-01 1.85571236e-02 1.30851894e-01] [ 1.70969078e-03 -1.85934590e-02 9.99825665e-01 -1.21656372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94719347 meters Centerline goodness : 0.865339 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99758911e-01 -2.18237372e-02 -2.41762099e-03 8.17224985e+00] [ 2.18598490e-02 9.99631696e-01 1.60816590e-02 1.29622426e-01] [ 2.06576867e-03 -1.61306307e-02 9.99867759e-01 -1.21810019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97719347 meters Centerline goodness : 0.863900 Centerline is valid? [False, False] Translation: X:8.17, Y:0.13, Z:-1.22 [[ 9.99678419e-01 -2.52610967e-02 -2.22164507e-03 8.17290597e+00] [ 2.52887416e-02 9.99589733e-01 1.34478366e-02 1.25880746e-01] [ 1.88102651e-03 -1.34996946e-02 9.99907106e-01 -1.21871468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00719347 meters Centerline goodness : 0.863597 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.22 [[ 9.99679153e-01 -2.52269013e-02 -2.27905443e-03 8.17336997e+00] [ 2.52564663e-02 9.99582421e-01 1.40390414e-02 1.24025016e-01] [ 1.92394124e-03 -1.40920979e-02 9.99898850e-01 -1.21906243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03719347 meters Centerline goodness : 0.865064 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.22 [[ 9.99670429e-01 -2.55593524e-02 -2.39842040e-03 8.17355920e+00] [ 2.55906573e-02 9.99573302e-01 1.40830638e-02 1.23158397e-01] [ 2.03744301e-03 -1.41397996e-02 9.99897952e-01 -1.21892538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06719347 meters Centerline goodness : 0.864363 Centerline is valid? [False, False] Translation: X:8.17, Y:0.12, Z:-1.22 [[ 9.99673223e-01 -2.54401346e-02 -2.49950577e-03 8.17408678e+00] [ 2.54736925e-02 9.99570860e-01 1.44632916e-02 1.22174267e-01] [ 2.13048505e-03 -1.45222369e-02 9.99892277e-01 -1.21924980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09719347000001 meters Centerline goodness : 0.864333 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.22 [[ 9.99558058e-01 -2.96822983e-02 1.62775193e-03 8.18890048e+00] [ 2.96449632e-02 9.99370236e-01 1.95014899e-02 1.19269327e-01] [-2.20557587e-03 -1.94446168e-02 9.99808503e-01 -1.22384357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12719347 meters Centerline goodness : 0.868582 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.23 [[ 9.99457078e-01 -3.29197753e-02 1.35587234e-03 8.19089276e+00] [ 3.28932517e-02 9.99325155e-01 1.63483569e-02 1.18806956e-01] [-1.89314157e-03 -1.62948820e-02 9.99865437e-01 -1.22535992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15719347 meters Centerline goodness : 0.865241 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.23 [[ 9.99335531e-01 -3.64317780e-02 1.10588224e-03 8.19289018e+00] [ 3.64143397e-02 9.99252094e-01 1.30095688e-02 1.18777789e-01] [-1.57901686e-03 -1.29606544e-02 9.99914760e-01 -1.22695847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18719347 meters Centerline goodness : 0.866756 Centerline is valid? [False, False] Translation: X:8.19, Y:0.12, Z:-1.23 [[ 9.99308380e-01 -3.71726067e-02 9.79152235e-04 8.19382047e+00] [ 3.71567278e-02 9.99224574e-01 1.30241388e-02 1.18178351e-01] [-1.46253416e-03 -1.29787490e-02 9.99914703e-01 -1.22784100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21719347 meters Centerline goodness : 0.864299 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:-1.23 [[ 9.98982287e-01 -4.50290683e-02 -2.60256618e-03 8.21452439e+00] [ 4.50859674e-02 9.98555591e-01 2.92230533e-02 1.19349662e-01] [ 1.28292015e-03 -2.93106518e-02 9.99569527e-01 -1.22906111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24719347 meters Centerline goodness : 0.865301 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99080646e-01 -4.27499331e-02 -3.21029133e-03 8.21590282e+00] [ 4.28341446e-02 9.98510115e-01 3.38051298e-02 1.17944397e-01] [ 1.76034133e-03 -3.39115610e-02 9.99423287e-01 -1.22928026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27719347 meters Centerline goodness : 0.865124 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99061136e-01 -4.31694552e-02 -3.63923811e-03 8.21749271e+00] [ 4.32680508e-02 9.98490270e-01 3.38386888e-02 1.17331964e-01] [ 2.17294608e-03 -3.39643816e-02 9.99420682e-01 -1.23041679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30719347 meters Centerline goodness : 0.869106 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99048577e-01 -4.34318079e-02 -3.95201607e-03 8.21870882e+00] [ 4.35409645e-02 9.98477241e-01 3.38730634e-02 1.16837175e-01] [ 2.47482972e-03 -3.40129104e-02 9.99418329e-01 -1.23125471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33719347 meters Centerline goodness : 0.870639 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99162817e-01 -4.07005492e-02 -4.13878757e-03 8.21881120e+00] [ 4.08245104e-02 9.98502293e-01 3.64215707e-02 1.19469785e-01] [ 2.65021095e-03 -3.65600432e-02 9.99327944e-01 -1.23125095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36719347 meters Centerline goodness : 0.867176 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99308816e-01 -3.68770011e-02 -4.68802092e-03 8.21955548e+00] [ 3.70367528e-02 9.98494583e-01 4.04579503e-02 1.21354949e-01] [ 3.18899562e-03 -4.06036154e-02 9.99170244e-01 -1.23116460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39719347 meters Centerline goodness : 0.868774 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:-1.23 [[ 9.99430748e-01 -3.33817975e-02 -4.88206726e-03 8.21979896e+00] [ 3.35628811e-02 9.98489105e-01 4.35090815e-02 1.23823335e-01] [ 3.42227962e-03 -4.36481701e-02 9.99041103e-01 -1.23130326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42719347 meters Centerline goodness : 0.869874 Centerline is valid? [False, False] Translation: X:8.22, Y:0.13, Z:-1.23 [[ 9.99465164e-01 -3.22316237e-02 -5.52341186e-03 8.22199077e+00] [ 3.24419436e-02 9.98524516e-01 4.35466476e-02 1.26844479e-01] [ 4.11168300e-03 -4.37025476e-02 9.99036126e-01 -1.23254877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45719347 meters Centerline goodness : 0.870985 Centerline is valid? [False, False] Translation: X:8.23, Y:0.13, Z:-1.23 [[ 9.99585675e-01 -2.79168156e-02 -7.00922420e-03 8.22921704e+00] [ 2.81760575e-02 9.98798022e-01 4.01076137e-02 1.30762218e-01] [ 5.88112242e-03 -4.02884884e-02 9.99170781e-01 -1.22983280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48719347000001 meters Centerline goodness : 0.873471 Centerline is valid? [False, False] Translation: X:8.24, Y:0.13, Z:-1.23 [[ 9.99687643e-01 -2.48578676e-02 -2.58912691e-03 8.23693635e+00] [ 2.49313742e-02 9.99114868e-01 3.38807663e-02 1.33308283e-01] [ 1.74463159e-03 -3.39347339e-02 9.99422528e-01 -1.23038678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51719347 meters Centerline goodness : 0.873476 Centerline is valid? [False, False] Translation: X:8.24, Y:0.14, Z:-1.23 [[ 9.99698364e-01 -2.44179980e-02 -2.63491277e-03 8.23739974e+00] [ 2.44926279e-02 9.99138427e-01 3.35039433e-02 1.35876608e-01] [ 1.81454338e-03 -3.35583733e-02 9.99435112e-01 -1.23057332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54719347 meters Centerline goodness : 0.878267 Centerline is valid? [False, False] Translation: X:8.24, Y:0.14, Z:-1.23 [[ 9.99700059e-01 -2.43390944e-02 -2.72042734e-03 8.23739388e+00] [ 2.44152719e-02 9.99164025e-01 3.27894162e-02 1.39211670e-01] [ 1.92008843e-03 -3.28460013e-02 9.99458580e-01 -1.22995741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57719347 meters Centerline goodness : 0.879841 Centerline is valid? [False, False] Translation: X:8.24, Y:0.14, Z:-1.23 [[ 9.99768795e-01 -2.13595562e-02 -2.47485804e-03 8.23585741e+00] [ 2.14324833e-02 9.99170598e-01 3.46231967e-02 1.44724275e-01] [ 1.73326927e-03 -3.46682340e-02 9.99397373e-01 -1.22823947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60719347 meters Centerline goodness : 0.878487 Centerline is valid? [False, False] Translation: X:8.24, Y:0.15, Z:-1.23 [[ 9.99777367e-01 -2.08916709e-02 -2.95889867e-03 8.23757350e+00] [ 2.09808885e-02 9.99192082e-01 3.42780545e-02 1.47555932e-01] [ 2.24038229e-03 -3.43325033e-02 9.99407955e-01 -1.22921672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63719347 meters Centerline goodness : 0.875409 Centerline is valid? [False, False] Translation: X:8.24, Y:0.15, Z:-1.23 [[ 9.99775979e-01 -2.09310971e-02 -3.14342135e-03 8.23857265e+00] [ 2.10248807e-02 9.99215530e-01 3.35600747e-02 1.50108117e-01] [ 2.43850625e-03 -3.36186466e-02 9.99431759e-01 -1.23002055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66719347 meters Centerline goodness : 0.875451 Centerline is valid? [False, False] Translation: X:8.24, Y:0.15, Z:-1.23 [[ 9.99771378e-01 -2.11308298e-02 -3.26797222e-03 8.23923656e+00] [ 2.12261860e-02 9.99243535e-01 3.25853789e-02 1.52730942e-01] [ 2.57694402e-03 -3.26472958e-02 9.99463613e-01 -1.23056273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69719347 meters Centerline goodness : 0.877358 Centerline is valid? [False, False] Translation: X:8.25, Y:0.16, Z:-1.23 [[ 9.99790204e-01 -2.04634798e-02 -8.91320453e-04 8.24809100e+00] [ 2.04787083e-02 9.99518050e-01 2.33300391e-02 1.60877895e-01] [ 4.13477098e-04 -2.33433976e-02 9.99727420e-01 -1.23062679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72719347 meters Centerline goodness : 0.874619 Centerline is valid? [False, False] Translation: X:8.25, Y:0.17, Z:-1.23 [[ 9.99783624e-01 -2.07628608e-02 -1.26866850e-03 8.24908409e+00] [ 2.07859479e-02 9.99536648e-01 2.22358696e-02 1.65043762e-01] [ 8.06400398e-04 -2.22574288e-02 9.99751948e-01 -1.23100140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75719347 meters Centerline goodness : 0.877268 Centerline is valid? [False, False] Translation: X:8.25, Y:0.17, Z:-1.23 [[ 9.99778764e-01 -2.09695194e-02 -1.64383258e-03 8.25009166e+00] [ 2.09996995e-02 9.99554280e-01 2.12191656e-02 1.69019610e-01] [ 1.19814419e-03 -2.12489912e-02 9.99773497e-01 -1.23138938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78719347 meters Centerline goodness : 0.877390 Centerline is valid? [False, False] Translation: X:8.25, Y:0.18, Z:-1.23 [[ 9.99756238e-01 -2.20133983e-02 -1.69572397e-03 8.25065114e+00] [ 2.20416557e-02 9.99576665e-01 1.89909758e-02 1.75570756e-01] [ 1.27695019e-03 -1.90237231e-02 9.99818217e-01 -1.23181313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81719347 meters Centerline goodness : 0.876706 Centerline is valid? [False, False] Translation: X:8.25, Y:0.18, Z:-1.23 [[ 9.99747727e-01 -2.23756891e-02 -1.95227017e-03 8.25163412e+00] [ 2.24076818e-02 9.99581659e-01 1.82866715e-02 1.77385502e-01] [ 1.54227658e-03 -1.83258041e-02 9.99830879e-01 -1.23245556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84719347000001 meters Centerline goodness : 0.876178 Centerline is valid? [False, False] Translation: X:8.25, Y:0.18, Z:-1.23 [[ 9.99747956e-01 -2.23391546e-02 -2.23325212e-03 8.25316187e+00] [ 2.23757831e-02 9.99587544e-01 1.80018474e-02 1.79017136e-01] [ 1.83018495e-03 -1.80472809e-02 9.99835460e-01 -1.23373437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87719347 meters Centerline goodness : 0.877700 Centerline is valid? [False, False] Translation: X:8.26, Y:0.18, Z:-1.24 [[ 9.99761919e-01 -2.16300517e-02 -2.87145305e-03 8.25557327e+00] [ 2.16788597e-02 9.99598923e-01 1.82214143e-02 1.81048375e-01] [ 2.47617124e-03 -1.82793260e-02 9.99829853e-01 -1.23530056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90719347 meters Centerline goodness : 0.877561 Centerline is valid? [False, False] Translation: X:8.26, Y:0.18, Z:-1.24 [[ 9.99777684e-01 -2.07925767e-02 -3.50031007e-03 8.25786147e+00] [ 2.08533862e-02 9.99614333e-01 1.83390770e-02 1.83709876e-01] [ 3.11764345e-03 -1.84079932e-02 9.99825698e-01 -1.23667129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93719347 meters Centerline goodness : 0.873702 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99940298e-01 -1.03579445e-02 -3.48042688e-03 8.25938560e+00] [ 1.03980735e-02 9.99877292e-01 1.17167088e-02 1.87283290e-01] [ 3.35863878e-03 -1.17521990e-02 9.99925300e-01 -1.23882217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96719347 meters Centerline goodness : 0.874261 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99975651e-01 -5.84322532e-03 -3.81492629e-03 8.26051567e+00] [ 5.90295893e-03 9.99857130e-01 1.58390223e-02 1.88022336e-01] [ 3.72183028e-03 -1.58611559e-02 9.99867277e-01 -1.23946968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99719347 meters Centerline goodness : 0.874630 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99991577e-01 -1.26653647e-03 -3.90412715e-03 8.26057492e+00] [ 1.34344837e-03 9.99803832e-01 1.97608938e-02 1.89010881e-01] [ 3.87833339e-03 -1.97659723e-02 9.99797112e-01 -1.23904955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02719347 meters Centerline goodness : 0.874630 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99991577e-01 -1.26653647e-03 -3.90412715e-03 8.26057492e+00] [ 1.34344837e-03 9.99803832e-01 1.97608938e-02 1.89010881e-01] [ 3.87833339e-03 -1.97659723e-02 9.99797112e-01 -1.23904955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05719347 meters Centerline goodness : 0.876749 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99985843e-01 3.39109971e-03 -4.10057831e-03 8.26125057e+00] [-3.29234154e-03 9.99709996e-01 2.38554988e-02 1.89812158e-01] [ 4.18028550e-03 -2.38416605e-02 9.99707007e-01 -1.23917325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08719347 meters Centerline goodness : 0.875126 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99878428e-01 1.48038560e-02 -4.89646105e-03 8.25902244e+00] [-1.47253814e-02 9.99768431e-01 1.56922995e-02 1.89926173e-01] [ 5.12763372e-03 -1.56182895e-02 9.99864879e-01 -1.23653305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11719347 meters Centerline goodness : 0.873247 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99862225e-01 1.57460046e-02 -5.25311446e-03 8.26025006e+00] [-1.56577112e-02 9.99742156e-01 1.64456094e-02 1.88412733e-01] [ 5.51071262e-03 -1.63610918e-02 9.99850962e-01 -1.23706747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14719347 meters Centerline goodness : 0.873228 Centerline is valid? [False, False] Translation: X:8.26, Y:0.19, Z:-1.24 [[ 9.99898568e-01 1.31315552e-02 -5.51509485e-03 8.26114847e+00] [-1.30559472e-02 9.99823245e-01 1.35285562e-02 1.86737169e-01] [ 5.69177101e-03 -1.34551791e-02 9.99893275e-01 -1.23730525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17719347 meters Centerline goodness : 0.874982 Centerline is valid? [False, False] Translation: X:8.26, Y:0.18, Z:-1.24 [[ 9.99931568e-01 1.01443075e-02 -5.82694879e-03 8.26196182e+00] [-1.00807058e-02 9.99890402e-01 1.08426870e-02 1.83365310e-01] [ 5.93630171e-03 -1.07832053e-02 9.99924239e-01 -1.23746244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20719347 meters Centerline goodness : 0.874714 Centerline is valid? [False, False] Translation: X:8.27, Y:0.18, Z:-1.24 [[ 9.99988786e-01 4.72813198e-03 -2.67779496e-04 8.27408116e+00] [-4.72356713e-03 9.99875608e-01 1.50484786e-02 1.78184389e-01] [ 3.38897379e-04 -1.50470449e-02 9.99886729e-01 -1.24105721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23719347000001 meters Centerline goodness : 0.871871 Centerline is valid? [False, False] Translation: X:8.29, Y:0.16, Z:-1.24 [[ 9.99993966e-01 -2.11168372e-03 2.75847633e-03 8.29125223e+00] [ 2.06145458e-03 9.99834298e-01 1.80866758e-02 1.64752386e-01] [-2.79621258e-03 -1.80808802e-02 9.99832617e-01 -1.24476124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26719347 meters Centerline goodness : 0.869477 Centerline is valid? [False, False] Translation: X:8.29, Y:0.16, Z:-1.25 [[ 9.99966487e-01 -7.93120708e-03 2.03004257e-03 8.29385854e+00] [ 7.90402686e-03 9.99883422e-01 1.30640151e-02 1.59540955e-01] [-2.13341932e-03 -1.30475318e-02 9.99912601e-01 -1.24603465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29719347 meters Centerline goodness : 0.868163 Centerline is valid? [False, False] Translation: X:8.30, Y:0.15, Z:-1.25 [[ 9.99938901e-01 -1.09309570e-02 1.64551837e-03 8.29552768e+00] [ 1.09113388e-02 9.99874417e-01 1.14931273e-02 1.53014863e-01] [-1.77094260e-03 -1.14744703e-02 9.99932598e-01 -1.24704710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32719347 meters Centerline goodness : 0.867220 Centerline is valid? [False, False] Translation: X:8.30, Y:0.15, Z:-1.25 [[ 9.99897534e-01 -1.42661312e-02 1.18318863e-03 8.29688067e+00] [ 1.42543848e-02 9.99854178e-01 9.40398040e-03 1.47114742e-01] [-1.31717451e-03 -9.38615118e-03 9.99955082e-01 -1.24742797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35719347 meters Centerline goodness : 0.866507 Centerline is valid? [False, False] Translation: X:8.30, Y:0.14, Z:-1.25 [[ 9.99846371e-01 -1.75024233e-02 9.48225908e-04 8.29747611e+00] [ 1.74951006e-02 9.99820684e-01 7.24720431e-03 1.41675852e-01] [-1.07489951e-03 -7.22950162e-03 9.99973289e-01 -1.24728109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38719347 meters Centerline goodness : 0.869057 Centerline is valid? [False, False] Translation: X:8.31, Y:0.13, Z:-1.25 [[ 9.99719191e-01 -2.33258725e-02 4.17634378e-03 8.31478562e+00] [ 2.32854239e-02 9.99683861e-01 9.48513528e-03 1.28617628e-01] [-4.39627253e-03 -9.38522384e-03 9.99946294e-01 -1.24906853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41719347 meters Centerline goodness : 0.871446 Centerline is valid? [False, False] Translation: X:8.32, Y:0.12, Z:-1.25 [[ 9.99641636e-01 -2.64829704e-02 3.90528995e-03 8.31597432e+00] [ 2.64539023e-02 9.99623263e-01 7.31601034e-03 1.23551744e-01] [-4.09756837e-03 -7.21007839e-03 9.99965612e-01 -1.24947740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44719347 meters Centerline goodness : 0.872505 Centerline is valid? [False, False] Translation: X:8.33, Y:0.12, Z:-1.25 [[ 9.99523578e-01 -2.98167717e-02 7.97350087e-03 8.33042132e+00] [ 2.97037026e-02 9.99461514e-01 1.39417693e-02 1.17394928e-01] [-8.38490580e-03 -1.36982846e-02 9.99871017e-01 -1.25385620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47719347 meters Centerline goodness : 0.871239 Centerline is valid? [False, False] Translation: X:8.35, Y:0.11, Z:-1.26 [[ 0.9992864 -0.03581926 0.01198648 8.34507602] [ 0.03557222 0.99916243 0.02022505 0.1077724 ] [-0.01270089 -0.01978424 0.9997236 -1.25907136] [ 0. 0. 0. 1. ]] SLAMing on 79.50719347 meters Centerline goodness : 0.870206 Centerline is valid? [False, False] Translation: X:8.36, Y:0.10, Z:-1.26 [[ 0.99909128 -0.03943422 0.01617287 8.35953335] [ 0.03897863 0.99885938 0.02757919 0.10183068] [-0.01724199 -0.02692373 0.99948878 -1.26463817] [ 0. 0. 0. 1. ]] SLAMing on 79.53719347 meters Centerline goodness : 0.868292 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.27 [[ 0.99890137 -0.04581051 0.00987135 8.38994158] [ 0.0450915 0.99694979 0.06370148 0.08402075] [-0.01275943 -0.06318638 0.99792018 -1.26621507] [ 0. 0. 0. 1. ]] SLAMing on 79.56719347 meters Centerline goodness : 0.867193 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.27 [[ 0.99869717 -0.05011875 0.00959592 8.39090007] [ 0.04944662 0.99692941 0.06071881 0.08178808] [-0.0126096 -0.06016522 0.99810878 -1.26566524] [ 0. 0. 0. 1. ]] SLAMing on 79.59719347000001 meters Centerline goodness : 0.869123 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.26 [[ 0.99849555 -0.0540994 0.00893849 8.39251188] [ 0.05348717 0.99685559 0.05846414 0.07968617] [-0.01207326 -0.05789809 0.99824949 -1.2648495 ] [ 0. 0. 0. 1. ]] SLAMing on 79.62719347 meters Centerline goodness : 0.867388 Centerline is valid? [False, False] Translation: X:8.39, Y:0.08, Z:-1.26 [[ 0.99826033 -0.05834206 0.00851535 8.39310757] [ 0.05777868 0.99676768 0.05581945 0.07793289] [-0.01174445 -0.05523033 0.99840457 -1.26314803] [ 0. 0. 0. 1. ]] SLAMing on 79.65719347 meters Centerline goodness : 0.868276 Centerline is valid? [False, False] Translation: X:8.39, Y:0.07, Z:-1.26 [[ 9.97763624e-01 -6.63879797e-02 7.77088759e-03 8.39483144e+00] [ 6.59134593e-02 9.96545551e-01 5.05211007e-02 7.41813182e-02] [-1.10980373e-02 -4.98959104e-02 9.98692761e-01 -1.26103817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68719347 meters Centerline goodness : 0.868620 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.97489821e-01 -7.04227126e-02 7.39585362e-03 8.39631351e+00] [ 6.99959687e-02 9.96421361e-01 4.73817987e-02 7.25566647e-02] [-1.07061413e-02 -4.67451820e-02 9.98849471e-01 -1.26102482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71719347 meters Centerline goodness : 0.869239 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.97211575e-01 -7.42788175e-02 7.19249232e-03 8.39759322e+00] [ 7.38900870e-02 9.96282101e-01 4.42970652e-02 7.10807033e-02] [-1.04560850e-02 -4.36420922e-02 9.98992512e-01 -1.26114517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74719347 meters Centerline goodness : 0.873617 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96845688e-01 -7.90439433e-02 7.12241622e-03 8.39765350e+00] [ 7.86875003e-02 9.96052413e-01 4.10836760e-02 6.97206593e-02] [-1.03417156e-02 -4.03936402e-02 9.99130323e-01 -1.25924808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77719347 meters Centerline goodness : 0.874436 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96785289e-01 -7.98292651e-02 6.80993006e-03 8.39755243e+00] [ 7.94857533e-02 9.95992841e-01 4.09911640e-02 7.03762921e-02] [-1.00549361e-02 -4.03180968e-02 9.99136302e-01 -1.25788950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80719347 meters Centerline goodness : 0.874961 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96741646e-01 -8.03952936e-02 6.53359420e-03 8.39731501e+00] [ 8.00664477e-02 9.95962937e-01 4.05856050e-02 7.19708221e-02] [-9.77010931e-03 -3.99302411e-02 9.99154703e-01 -1.25670126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83719347 meters Centerline goodness : 0.880002 Centerline is valid? [False, False] Translation: X:8.40, Y:0.07, Z:-1.26 [[ 9.96707693e-01 -8.08288488e-02 6.36174077e-03 8.39698493e+00] [ 8.05153926e-02 9.95963999e-01 3.96608768e-02 7.47752067e-02] [-9.54180779e-03 -3.90180829e-02 9.99192946e-01 -1.25596538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86719347 meters Centerline goodness : 0.881403 Centerline is valid? [False, False] Translation: X:8.40, Y:0.08, Z:-1.26 [[ 9.96710174e-01 -8.07994579e-02 6.34639639e-03 8.39627952e+00] [ 8.04953334e-02 9.96001727e-01 3.87435396e-02 7.79376228e-02] [-9.45147876e-03 -3.81052248e-02 9.99229034e-01 -1.25522140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89719347 meters Centerline goodness : 0.883092 Centerline is valid? [False, False] Translation: X:8.39, Y:0.09, Z:-1.25 [[ 9.96974583e-01 -7.74833881e-02 6.16480398e-03 8.39473292e+00] [ 7.71813818e-02 9.96233343e-01 3.95241756e-02 8.54434330e-02] [-9.20405031e-03 -3.89287904e-02 9.99199597e-01 -1.25388511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92719347 meters Centerline goodness : 0.887812 Centerline is valid? [False, False] Translation: X:8.39, Y:0.09, Z:-1.25 [[ 9.97008123e-01 -7.70104041e-02 6.64829794e-03 8.39324575e+00] [ 7.67095301e-02 9.96348706e-01 3.74820539e-02 9.10502993e-02] [-9.51053116e-03 -3.68599244e-02 9.99275185e-01 -1.25392617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95719347 meters Centerline goodness : 0.887597 Centerline is valid? [False, False] Translation: X:8.39, Y:0.09, Z:-1.25 [[ 9.97255296e-01 -7.37658521e-02 6.36183690e-03 8.39290967e+00] [ 7.34580470e-02 9.96510997e-01 3.96200556e-02 9.49721781e-02] [-9.26224759e-03 -3.90439821e-02 9.99194565e-01 -1.25398853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98719347000001 meters Centerline goodness : 0.888993 Centerline is valid? [False, False] Translation: X:8.39, Y:0.10, Z:-1.25 [[ 9.97480500e-01 -7.07121463e-02 5.69602109e-03 8.39345905e+00] [ 7.04165546e-02 9.96653932e-01 4.15023946e-02 9.94818300e-02] [-8.61168522e-03 -4.09967352e-02 9.99122168e-01 -1.25437921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01719347 meters Centerline goodness : 0.892322 Centerline is valid? [False, False] Translation: X:8.39, Y:0.11, Z:-1.25 [[ 9.98258979e-01 -5.89610792e-02 1.61321128e-03 8.38860318e+00] [ 5.88672964e-02 9.97638953e-01 3.53717606e-02 1.08227746e-01] [-3.69495959e-03 -3.52152123e-02 9.99372921e-01 -1.25139781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04719347 meters Centerline goodness : 0.893105 Centerline is valid? [False, False] Translation: X:8.39, Y:0.11, Z:-1.25 [[ 9.98491963e-01 -5.48762322e-02 1.54917648e-03 8.38829308e+00] [ 5.47793685e-02 9.97790670e-01 3.75898825e-02 1.12329143e-01] [-3.60854495e-03 -3.74483326e-02 9.99292050e-01 -1.25214729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07719347 meters Centerline goodness : 0.896408 Centerline is valid? [False, False] Translation: X:8.39, Y:0.12, Z:-1.25 [[ 9.98704166e-01 -5.08707572e-02 1.46776080e-03 8.38757510e+00] [ 5.07726271e-02 9.97922167e-01 3.96672243e-02 1.17100147e-01] [-3.48261277e-03 -3.95413001e-02 9.99211868e-01 -1.25235237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10719347 meters Centerline goodness : 0.895696 Centerline is valid? [False, False] Translation: X:8.38, Y:0.13, Z:-1.25 [[ 9.99222921e-01 -3.91917570e-02 -4.19045295e-03 8.38203103e+00] [ 3.93114250e-02 9.98652952e-01 3.38658186e-02 1.25925291e-01] [ 2.85754727e-03 -3.40042349e-02 9.99417604e-01 -1.24959161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13719347 meters Centerline goodness : 0.894295 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.25 [[ 9.99276179e-01 -3.77159759e-02 -4.96225965e-03 8.38558299e+00] [ 3.78647947e-02 9.98689694e-01 3.44260320e-02 1.28470474e-01] [ 3.65734618e-03 -3.45890086e-02 9.99394929e-01 -1.25240320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16719347 meters Centerline goodness : 0.892718 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.26 [[ 9.99319421e-01 -3.64511851e-02 -5.65740702e-03 8.38904583e+00] [ 3.66273302e-02 9.98715773e-01 3.50034724e-02 1.30350067e-01] [ 4.37422358e-03 -3.51868654e-02 9.99371178e-01 -1.25533179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19719347 meters Centerline goodness : 0.893815 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.26 [[ 9.99354859e-01 -3.53590285e-02 -6.29320461e-03 8.39206129e+00] [ 3.55610380e-02 9.98734487e-01 3.55645433e-02 1.31953577e-01] [ 5.02771278e-03 -3.57653921e-02 9.99347567e-01 -1.25777584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22719347 meters Centerline goodness : 0.893133 Centerline is valid? [False, False] Translation: X:8.39, Y:0.13, Z:-1.26 [[ 9.99346871e-01 -3.55797085e-02 -6.31786110e-03 8.39227039e+00] [ 3.57785980e-02 9.98753617e-01 3.48009297e-02 1.34279488e-01] [ 5.07177969e-03 -3.50042444e-02 9.99374294e-01 -1.25783269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25719347 meters Centerline goodness : 0.894258 Centerline is valid? [False, False] Translation: X:8.39, Y:0.14, Z:-1.26 [[ 9.99232403e-01 -3.86085589e-02 -6.63210511e-03 8.39355354e+00] [ 3.87978575e-02 9.98757133e-01 3.12876143e-02 1.35630399e-01] [ 5.41589259e-03 -3.15209095e-02 9.99488419e-01 -1.25813325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28719347 meters Centerline goodness : 0.897085 Centerline is valid? [False, False] Translation: X:8.39, Y:0.14, Z:-1.26 [[ 9.99074615e-01 -4.24692755e-02 -6.80258587e-03 8.39414812e+00] [ 4.26393107e-02 9.98720693e-01 2.71821171e-02 1.36906744e-01] [ 5.63947846e-03 -2.74470207e-02 9.99607352e-01 -1.25796374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31719347 meters Centerline goodness : 0.896224 Centerline is valid? [False, False] Translation: X:8.40, Y:0.14, Z:-1.26 [[ 9.98933223e-01 -4.56187745e-02 -7.16543713e-03 8.39639383e+00] [ 4.57787071e-02 9.98662838e-01 2.40176003e-02 1.36824473e-01] [ 6.06020228e-03 -2.43200034e-02 9.99685856e-01 -1.25941675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34719347000001 meters Centerline goodness : 0.895536 Centerline is valid? [False, False] Translation: X:8.41, Y:0.13, Z:-1.26 [[ 9.98655207e-01 -5.17153058e-02 -3.64744137e-03 8.41223057e+00] [ 5.17977108e-02 9.98260556e-01 2.81577633e-02 1.32706654e-01] [ 2.18490951e-03 -2.83088261e-02 9.99596837e-01 -1.26448286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37719347 meters Centerline goodness : 0.895460 Centerline is valid? [False, False] Translation: X:8.41, Y:0.13, Z:-1.26 [[ 9.98449243e-01 -5.55508280e-02 -3.63532866e-03 8.41275653e+00] [ 5.56224128e-02 9.98162284e-01 2.40458228e-02 1.33502021e-01] [ 2.29288260e-03 -2.42107393e-02 9.99704248e-01 -1.26442465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40719347 meters Centerline goodness : 0.898892 Centerline is valid? [False, False] Translation: X:8.42, Y:0.13, Z:-1.27 [[ 9.98352942e-01 -5.73367033e-02 1.97622485e-03 8.42299953e+00] [ 5.72391193e-02 9.97803296e-01 3.33506337e-02 1.32235110e-01] [-3.88409906e-03 -3.31825859e-02 9.99441759e-01 -1.26781777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43719347 meters Centerline goodness : 0.899654 Centerline is valid? [False, False] Translation: X:8.42, Y:0.13, Z:-1.27 [[ 9.98302981e-01 -5.82215951e-02 1.18523830e-03 8.42297978e+00] [ 5.81483947e-02 9.97735799e-01 3.37940720e-02 1.33128407e-01] [-3.15009946e-03 -3.36678031e-02 9.99428114e-01 -1.26518391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46719347 meters Centerline goodness : 0.901533 Centerline is valid? [False, False] Translation: X:8.42, Y:0.14, Z:-1.26 [[ 9.98259646e-01 -5.89718428e-02 2.05938321e-05 8.42376101e+00] [ 5.89360724e-02 9.97666174e-01 3.44781709e-02 1.36181210e-01] [-2.05378705e-03 -3.44169530e-02 9.99405451e-01 -1.26291684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49719347 meters Centerline goodness : 0.896986 Centerline is valid? [False, False] Translation: X:8.42, Y:0.14, Z:-1.26 [[ 9.98260731e-01 -5.89534849e-02 5.92583420e-06 8.42430786e+00] [ 5.89189766e-02 9.97679830e-01 3.41102796e-02 1.37702184e-01] [-2.01683194e-03 -3.40506035e-02 9.99418075e-01 -1.26335216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52719347 meters Centerline goodness : 0.898892 Centerline is valid? [False, False] Translation: X:8.42, Y:0.14, Z:-1.26 [[ 9.98232861e-01 -5.94232019e-02 -1.95905310e-04 8.42471314e+00] [ 5.93969781e-02 9.97682957e-01 3.31770577e-02 1.39170788e-01] [-1.77603561e-03 -3.31300654e-02 9.99449471e-01 -1.26363236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55719347 meters Centerline goodness : 0.898608 Centerline is valid? [False, False] Translation: X:8.43, Y:0.14, Z:-1.26 [[ 9.98240639e-01 -5.92913463e-02 -4.04562727e-04 8.42531550e+00] [ 5.92732988e-02 9.97715676e-01 3.24053251e-02 1.41101002e-01] [-1.51771678e-03 -3.23722922e-02 9.99474728e-01 -1.26438634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58719347 meters Centerline goodness : 0.903483 Centerline is valid? [False, False] Translation: X:8.42, Y:0.15, Z:-1.26 [[ 9.98405499e-01 -5.64426535e-02 -8.28743660e-04 8.42487724e+00] [ 5.64380251e-02 9.97822442e-01 3.41338934e-02 1.46779448e-01] [-1.09966849e-03 -3.41262395e-02 9.99416925e-01 -1.26364795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61719347 meters Centerline goodness : 0.902010 Centerline is valid? [False, False] Translation: X:8.43, Y:0.15, Z:-1.26 [[ 9.98402911e-01 -5.64852958e-02 -1.01880497e-03 8.42531271e+00] [ 5.64880004e-02 9.97852819e-01 3.31490120e-02 1.50225396e-01] [-8.55814334e-04 -3.31536203e-02 9.99449901e-01 -1.26377536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64719347 meters Centerline goodness : 0.900491 Centerline is valid? [False, False] Translation: X:8.43, Y:0.15, Z:-1.26 [[ 9.98410493e-01 -5.63443673e-02 -1.34166194e-03 8.42613247e+00] [ 5.63582010e-02 9.97882369e-01 3.24735458e-02 1.52863252e-01] [-4.90880600e-04 -3.24975426e-02 9.99471695e-01 -1.26402109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67719347 meters Centerline goodness : 0.902397 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98420581e-01 -5.61732448e-02 -9.53842068e-04 8.42573088e+00] [ 5.61766380e-02 9.97973371e-01 2.98887438e-02 1.57686039e-01] [-7.27038740e-04 -2.98951206e-02 9.99552777e-01 -1.26554979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70719347 meters Centerline goodness : 0.899843 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98465203e-01 -5.53600198e-02 -1.58348509e-03 8.42868213e+00] [ 5.53825774e-02 9.98005605e-01 3.02916158e-02 1.59281326e-01] [-9.66174551e-05 -3.03328218e-02 9.99539849e-01 -1.26801132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73719347000001 meters Centerline goodness : 0.897969 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98515200e-01 -5.44275982e-02 -2.24315014e-03 8.43169682e+00] [ 5.44708678e-02 9.98041954e-01 3.07438382e-02 1.61202093e-01] [ 5.65444672e-04 -3.08203761e-02 9.99524779e-01 -1.27057171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76719347 meters Centerline goodness : 0.901558 Centerline is valid? [False, False] Translation: X:8.43, Y:0.16, Z:-1.27 [[ 9.98567205e-01 -5.34353230e-02 -2.86403605e-03 8.43417976e+00] [ 5.34987442e-02 9.98080746e-01 3.11882942e-02 1.63327453e-01] [ 1.19198266e-03 -3.12968302e-02 9.99509423e-01 -1.27238912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79719347 meters Centerline goodness : 0.893884 Centerline is valid? [False, False] Translation: X:8.44, Y:0.17, Z:-1.27 [[ 9.98768571e-01 -4.95588568e-02 -2.29370068e-03 8.43716144e+00] [ 4.96026564e-02 9.98407321e-01 2.68774467e-02 1.69555533e-01] [ 9.58032017e-04 -2.69581227e-02 9.99636105e-01 -1.26744138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82719347 meters Centerline goodness : 0.895971 Centerline is valid? [False, False] Translation: X:8.44, Y:0.17, Z:-1.27 [[ 9.98808514e-01 -4.87283243e-02 -2.66497809e-03 8.43790334e+00] [ 4.87821127e-02 9.98454139e-01 2.66390199e-02 1.71918715e-01] [ 1.36278360e-03 -2.67372832e-02 9.99641566e-01 -1.26726147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85719347 meters Centerline goodness : 0.895651 Centerline is valid? [False, False] Translation: X:8.44, Y:0.17, Z:-1.27 [[ 9.98873685e-01 -4.73368986e-02 -3.25254886e-03 8.43981700e+00] [ 4.74079020e-02 9.98506640e-01 2.71473945e-02 1.73021283e-01] [ 1.96261817e-03 -2.72710145e-02 9.99626150e-01 -1.26817313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88719347 meters Centerline goodness : 0.897766 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99385162e-01 -3.50191900e-02 -1.71902806e-03 8.44751990e+00] [ 3.50433955e-02 9.99241059e-01 1.70078343e-02 1.73757010e-01] [ 1.12212283e-03 -1.70576178e-02 9.99853879e-01 -1.26858308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91719347 meters Centerline goodness : 0.896056 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99522186e-01 -3.08478085e-02 -1.95257628e-03 8.44811415e+00] [ 3.08822447e-02 9.99299233e-01 2.11501674e-02 1.73711899e-01] [ 1.29877167e-03 -2.12003615e-02 9.99774403e-01 -1.26913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94719347 meters Centerline goodness : 0.896056 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99522186e-01 -3.08478085e-02 -1.95257628e-03 8.44811415e+00] [ 3.08822447e-02 9.99299233e-01 2.11501674e-02 1.73711899e-01] [ 1.29877167e-03 -2.12003615e-02 9.99774403e-01 -1.26913667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97719347 meters Centerline goodness : 0.895980 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99565177e-01 -2.93608741e-02 -2.71943900e-03 8.45055603e+00] [ 2.94139685e-02 9.99322087e-01 2.21401021e-02 1.74739722e-01] [ 2.06754271e-03 -2.22104645e-02 9.99751179e-01 -1.27045085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00719347 meters Centerline goodness : 0.897800 Centerline is valid? [False, False] Translation: X:8.45, Y:0.17, Z:-1.27 [[ 9.99595313e-01 -2.82546962e-02 -3.29871389e-03 8.45245941e+00] [ 2.83234036e-02 9.99332537e-01 2.30708805e-02 1.74530419e-01] [ 2.64465140e-03 -2.31549748e-02 9.99728390e-01 -1.27148370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03719347 meters Centerline goodness : 0.895985 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.27 [[ 9.99554954e-01 -2.95851199e-02 -3.82302020e-03 8.45567340e+00] [ 2.96607707e-02 9.99328000e-01 2.15357376e-02 1.71584033e-01] [ 3.18331375e-03 -2.16395469e-02 9.99760770e-01 -1.27372181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06719347 meters Centerline goodness : 0.890717 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.28 [[ 9.99483435e-01 -3.18450478e-02 -4.33087372e-03 8.45826272e+00] [ 3.19229704e-02 9.99303915e-01 1.93030861e-02 1.69294563e-01] [ 3.71315136e-03 -1.94313692e-02 9.99804298e-01 -1.27548861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09719347000001 meters Centerline goodness : 0.898989 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.28 [[ 9.99409760e-01 -3.40231013e-02 -4.74983824e-03 8.46057316e+00] [ 3.41000576e-02 9.99270593e-01 1.71891719e-02 1.67009361e-01] [ 4.16154474e-03 -1.73409959e-02 9.99840973e-01 -1.27702446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12719347 meters Centerline goodness : 0.895004 Centerline is valid? [False, False] Translation: X:8.46, Y:0.17, Z:-1.28 [[ 9.99347402e-01 -3.57463891e-02 -5.19287232e-03 8.46269335e+00] [ 3.58218946e-02 9.99241700e-01 1.52583501e-02 1.65551792e-01] [ 4.64350365e-03 -1.54344111e-02 9.99870100e-01 -1.27806604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15719347 meters Centerline goodness : 0.898273 Centerline is valid? [False, False] Translation: X:8.46, Y:0.16, Z:-1.28 [[ 9.99409352e-01 -3.39510479e-02 -5.31724600e-03 8.46311197e+00] [ 3.40386062e-02 9.99269958e-01 1.73471807e-02 1.61892014e-01] [ 4.72440922e-03 -1.75179263e-02 9.99835388e-01 -1.27773189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18719347 meters Centerline goodness : 0.898989 Centerline is valid? [False, False] Translation: X:8.46, Y:0.16, Z:-1.28 [[ 9.99443126e-01 -3.28812571e-02 -5.67981933e-03 8.46407090e+00] [ 3.29819015e-02 9.99282075e-01 1.86421206e-02 1.59416015e-01] [ 5.06276529e-03 -1.88190705e-02 9.99810087e-01 -1.27794238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21719347 meters Centerline goodness : 0.898969 Centerline is valid? [False, False] Translation: X:8.47, Y:0.16, Z:-1.28 [[ 9.99382120e-01 -3.46064783e-02 -6.14569723e-03 8.46611075e+00] [ 3.47053349e-02 9.99256677e-01 1.67819331e-02 1.56664337e-01] [ 5.56036539e-03 -1.69848523e-02 9.99840286e-01 -1.27887630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24719347 meters Centerline goodness : 0.896365 Centerline is valid? [False, False] Translation: X:8.47, Y:0.15, Z:-1.28 [[ 9.99309260e-01 -3.65647490e-02 -6.63492491e-03 8.46846270e+00] [ 3.66619449e-02 9.99212546e-01 1.51720003e-02 1.51935159e-01] [ 6.07493983e-03 -1.54047696e-02 9.99862885e-01 -1.28016416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27719347 meters Centerline goodness : 0.898684 Centerline is valid? [False, False] Translation: X:8.47, Y:0.14, Z:-1.28 [[ 9.99116615e-01 -4.12544391e-02 -8.00374844e-03 8.47347849e+00] [ 4.13426676e-02 9.99082360e-01 1.11902166e-02 1.38515416e-01] [ 7.53475778e-03 -1.15112276e-02 9.99905355e-01 -1.28115969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30719347 meters Centerline goodness : 0.900329 Centerline is valid? [False, False] Translation: X:8.47, Y:0.13, Z:-1.28 [[ 9.98980063e-01 -4.44188262e-02 -8.11182033e-03 8.47485467e+00] [ 4.44968915e-02 9.98962324e-01 9.71096458e-03 1.31785949e-01] [ 7.67205324e-03 -1.00620108e-02 9.99919945e-01 -1.28203037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33719347 meters Centerline goodness : 0.898142 Centerline is valid? [False, False] Translation: X:8.48, Y:0.13, Z:-1.28 [[ 9.98823670e-01 -4.77934152e-02 -8.18933190e-03 8.47604749e+00] [ 4.78588798e-02 9.98822122e-01 7.99351548e-03 1.25777390e-01] [ 7.79764846e-03 -8.37604472e-03 9.99934517e-01 -1.28274046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36719347 meters Centerline goodness : 0.897842 Centerline is valid? [False, False] Translation: X:8.47, Y:0.11, Z:-1.28 [[ 0.99844121 -0.05231251 -0.01945647 8.47408425] [ 0.05250154 0.99857721 0.00933478 0.1085519 ] [ 0.01894046 -0.01034173 0.99976713 -1.27940137] [ 0. 0. 0. 1. ]] SLAMing on 81.39719347 meters Centerline goodness : 0.889917 Centerline is valid? [False, False] Translation: X:8.48, Y:0.10, Z:-1.28 [[ 0.99822164 -0.05609602 -0.02016894 8.47747208] [ 0.05628539 0.99837463 0.0089472 0.10081341] [ 0.01963425 -0.0100665 0.99975655 -1.28040413] [ 0. 0. 0. 1. ]] SLAMing on 81.42719347 meters Centerline goodness : 0.893822 Centerline is valid? [False, False] Translation: X:8.48, Y:0.09, Z:-1.28 [[ 9.98011656e-01 -5.96815795e-02 -2.02692785e-02 8.47944686e+00] [ 5.98624635e-02 9.98170977e-01 8.43719356e-03 9.23535468e-02] [ 1.97286605e-02 -9.63378646e-03 9.99758956e-01 -1.28083024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45719347 meters Centerline goodness : 0.896168 Centerline is valid? [False, False] Translation: X:8.47, Y:0.08, Z:-1.28 [[ 0.99777802 -0.05990219 -0.02916754 8.47258029] [ 0.06026023 0.99811583 0.01155426 0.08037255] [ 0.02842045 -0.01328623 0.99950776 -1.27741558] [ 0. 0. 0. 1. ]] SLAMing on 81.48719347000001 meters Centerline goodness : 0.896825 Centerline is valid? [False, False] Translation: X:8.47, Y:0.07, Z:-1.28 [[ 0.99751502 -0.06392551 -0.02961938 8.47440923] [ 0.06426548 0.99787578 0.01067079 0.07380907] [ 0.02887432 -0.01254778 0.99950429 -1.27683682] [ 0. 0. 0. 1. ]] SLAMing on 81.51719347 meters Centerline goodness : 0.895001 Centerline is valid? [False, False] Translation: X:8.48, Y:0.06, Z:-1.28 [[ 0.99691832 -0.07038924 -0.03462979 8.48242945] [ 0.07090873 0.99738445 0.01400739 0.06433028] [ 0.03355324 -0.01641978 0.99930204 -1.27566711] [ 0. 0. 0. 1. ]] SLAMing on 81.54719347 meters Centerline goodness : 0.891197 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99679816 -0.07155033 -0.03569295 8.48506947] [ 0.07213341 0.99727728 0.01532327 0.06074532] [ 0.03449938 -0.01784887 0.99924532 -1.27552404] [ 0. 0. 0. 1. ]] SLAMing on 81.57719347 meters Centerline goodness : 0.889211 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99654002 -0.07523611 -0.0353202 8.48515 ] [ 0.07570658 0.9970558 0.01217527 0.05897663] [ 0.03430019 -0.01480711 0.99930188 -1.2755181 ] [ 0. 0. 0. 1. ]] SLAMing on 81.60719347 meters Centerline goodness : 0.887890 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99631751 -0.07849626 -0.0344928 8.48507571] [ 0.07886883 0.99683902 0.00957483 0.05503764] [ 0.03363218 -0.01225998 0.99935908 -1.27605553] [ 0. 0. 0. 1. ]] SLAMing on 81.63719347 meters Centerline goodness : 0.885738 Centerline is valid? [False, False] Translation: X:8.49, Y:0.05, Z:-1.28 [[ 0.99633083 -0.07838042 -0.03437128 8.48532803] [ 0.07876014 0.99684509 0.00983426 0.05433721] [ 0.03349203 -0.01250527 0.99936075 -1.27651023] [ 0. 0. 0. 1. ]] SLAMing on 81.66719347 meters Centerline goodness : 0.886748 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99633458 -0.07834887 -0.0343344 8.48529235] [ 0.07872672 0.99684814 0.00979253 0.05507646] [ 0.03345895 -0.01245967 0.99936242 -1.27651853] [ 0. 0. 0. 1. ]] SLAMing on 81.69719347 meters Centerline goodness : 0.888120 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.9964722 -0.07612293 -0.0353336 8.48572188] [ 0.07661585 0.99697839 0.01281053 0.0580363 ] [ 0.03425166 -0.01547245 0.99929346 -1.27501761] [ 0. 0. 0. 1. ]] SLAMing on 81.72719347 meters Centerline goodness : 0.885929 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.9964119 -0.07680281 -0.03556197 8.48622656] [ 0.07725684 0.99694407 0.01157197 0.06079407] [ 0.03456453 -0.01427786 0.99930047 -1.27534005] [ 0. 0. 0. 1. ]] SLAMing on 81.75719347 meters Centerline goodness : 0.885787 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99638517 -0.07719358 -0.03546477 8.48680008] [ 0.07761224 0.99692746 0.01058209 0.06231907] [ 0.03453894 -0.01329634 0.9993149 -1.27658383] [ 0. 0. 0. 1. ]] SLAMing on 81.78719347 meters Centerline goodness : 0.884025 Centerline is valid? [False, False] Translation: X:8.49, Y:0.06, Z:-1.28 [[ 0.99639183 -0.07688715 -0.03594002 8.48965999] [ 0.0773033 0.99695406 0.0103345 0.06345967] [ 0.03503596 -0.0130755 0.99930051 -1.27939141] [ 0. 0. 0. 1. ]] SLAMing on 81.81719347 meters Centerline goodness : 0.883218 Centerline is valid? [False, False] Translation: X:8.49, Y:0.07, Z:-1.28 [[ 9.96274752e-01 -7.83980774e-02 -3.59215934e-02 8.49108359e+00] [ 7.87050803e-02 9.96871860e-01 7.21145756e-03 6.86250460e-02] [ 3.52438612e-02 -1.00118050e-02 9.99328592e-01 -1.28184605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84719347000001 meters Centerline goodness : 0.882750 Centerline is valid? [False, False] Translation: X:8.49, Y:0.07, Z:-1.28 [[ 9.96254600e-01 -7.82845813e-02 -3.67191661e-02 8.49410718e+00] [ 7.85922769e-02 9.96882195e-01 7.01029374e-03 7.06192994e-02] [ 3.60558850e-02 -9.86988026e-03 9.99301035e-01 -1.28401999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87719347 meters Centerline goodness : 0.881735 Centerline is valid? [False, False] Translation: X:8.50, Y:0.07, Z:-1.28 [[ 9.96191480e-01 -7.88838767e-02 -3.71465801e-02 8.49547436e+00] [ 7.91718454e-02 9.96840797e-01 6.34382331e-03 7.23303759e-02] [ 3.65288011e-02 -9.26062603e-03 9.99289691e-01 -1.28488539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90719347 meters Centerline goodness : 0.881908 Centerline is valid? [False, False] Translation: X:8.50, Y:0.08, Z:-1.28 [[ 0.99617723 -0.0781612 -0.03900958 8.49856718] [ 0.07856127 0.9968702 0.00882806 0.07504451] [ 0.03819747 -0.01185896 0.99919984 -1.28453313] [ 0. 0. 0. 1. ]] SLAMing on 81.93719347 meters Centerline goodness : 0.877771 Centerline is valid? [False, False] Translation: X:8.50, Y:0.08, Z:-1.28 [[ 9.96073335e-01 -7.92533233e-02 -3.94565739e-02 8.49903540e+00] [ 7.96063536e-02 9.96798496e-01 7.45560639e-03 7.87433644e-02] [ 3.87393720e-02 -1.05673247e-02 9.99193471e-01 -1.28419129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96719347 meters Centerline goodness : 0.876177 Centerline is valid? [False, False] Translation: X:8.50, Y:0.08, Z:-1.28 [[ 0.99610161 -0.07788982 -0.04140962 8.50224874] [ 0.07836124 0.99687604 0.00988321 0.08123724] [ 0.04051046 -0.01308959 0.99909337 -1.28409198] [ 0. 0. 0. 1. ]] SLAMing on 81.99719347 meters Centerline goodness : 0.877385 Centerline is valid? [False, False] Translation: X:8.51, Y:0.08, Z:-1.29 [[ 0.99609564 -0.0775395 -0.04220311 8.50506859] [ 0.07800302 0.99690836 0.00944684 0.0848755 ] [ 0.04134013 -0.01270192 0.99906439 -1.28622338] [ 0. 0. 0. 1. ]] SLAMing on 82.02719347 meters Centerline goodness : 0.874769 Centerline is valid? [False, False] Translation: X:8.51, Y:0.09, Z:-1.29 [[ 0.99637322 -0.07329665 -0.04322047 8.50820942] [ 0.07385204 0.99720412 0.01139427 0.09083585] [ 0.04226447 -0.01454487 0.99900058 -1.28946419] [ 0. 0. 0. 1. ]] SLAMing on 82.05719347 meters Centerline goodness : 0.876315 Centerline is valid? [False, False] Translation: X:8.50, Y:0.09, Z:-1.29 [[ 9.96775037e-01 -6.57327219e-02 -4.60297158e-02 8.49902787e+00] [ 6.60964418e-02 9.97792564e-01 6.42328836e-03 9.43424485e-02] [ 4.55058879e-02 -9.44497393e-03 9.98919419e-01 -1.28840787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08719347 meters Centerline goodness : 0.876779 Centerline is valid? [False, False] Translation: X:8.50, Y:0.10, Z:-1.29 [[ 0.99701617 -0.06172511 -0.0463548 8.49881518] [ 0.06218471 0.99802814 0.00853788 0.1000864 ] [ 0.04573639 -0.01139496 0.99888855 -1.28872301] [ 0. 0. 0. 1. ]] SLAMing on 82.11719347 meters Centerline goodness : 0.877574 Centerline is valid? [False, False] Translation: X:8.50, Y:0.11, Z:-1.29 [[ 0.99737929 -0.05494053 -0.04707536 8.49856529] [ 0.05565733 0.99835103 0.01405264 0.1057366 ] [ 0.04622568 -0.0166359 0.99879249 -1.28821497] [ 0. 0. 0. 1. ]] SLAMing on 82.14719347 meters Centerline goodness : 0.881499 Centerline is valid? [False, False] Translation: X:8.49, Y:0.12, Z:-1.29 [[ 0.99811699 -0.0448579 -0.04183589 8.48918907] [ 0.04539069 0.99889875 0.01187297 0.12174466] [ 0.04125722 -0.01374957 0.99905395 -1.28501118] [ 0. 0. 0. 1. ]] SLAMing on 82.17719347 meters Centerline goodness : 0.887521 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:-1.28 [[ 0.99826424 -0.04154982 -0.04173879 8.48789857] [ 0.04215393 0.99901721 0.01369894 0.12742228] [ 0.04112858 -0.01543461 0.99903464 -1.2839184 ] [ 0. 0. 0. 1. ]] SLAMing on 82.20719347 meters Centerline goodness : 0.889726 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:-1.28 [[ 0.9983908 -0.03810504 -0.04199774 8.48830453] [ 0.0388107 0.9991166 0.01611675 0.13129533] [ 0.04134651 -0.01772078 0.99898771 -1.28417282] [ 0. 0. 0. 1. ]] SLAMing on 82.23719347000001 meters Centerline goodness : 0.888433 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:-1.29 [[ 0.99847495 -0.03543992 -0.04232956 8.49019435] [ 0.03619647 0.99919594 0.01724183 0.13769781] [ 0.04168448 -0.01874771 0.99895492 -1.28580495] [ 0. 0. 0. 1. ]] SLAMing on 82.26719347 meters Centerline goodness : 0.887870 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:-1.29 [[ 0.99846693 -0.03479869 -0.04304466 8.49306096] [ 0.03557168 0.99921696 0.01732381 0.14015659] [ 0.04240811 -0.01882842 0.99892294 -1.28762126] [ 0. 0. 0. 1. ]] SLAMing on 82.29719347 meters Centerline goodness : 0.887718 Centerline is valid? [False, False] Translation: X:8.50, Y:0.14, Z:-1.29 [[ 0.99846151 -0.03424709 -0.04360905 8.49571793] [ 0.03503913 0.9992322 0.01752925 0.14253027] [ 0.04297524 -0.0190303 0.99889488 -1.28951254] [ 0. 0. 0. 1. ]] SLAMing on 82.32719347 meters Centerline goodness : 0.885612 Centerline is valid? [False, False] Translation: X:8.50, Y:0.14, Z:-1.29 [[ 0.99845557 -0.03359875 -0.04424479 8.49850868] [ 0.03441779 0.99924755 0.01788153 0.14437718] [ 0.0436107 -0.01937672 0.99886068 -1.29136157] [ 0. 0. 0. 1. ]] SLAMing on 82.35719347 meters Centerline goodness : 0.881482 Centerline is valid? [False, False] Translation: X:8.50, Y:0.15, Z:-1.29 [[ 0.99840228 -0.03477506 -0.04453743 8.50120897] [ 0.03554277 0.99923089 0.01656295 0.1472645 ] [ 0.04392719 -0.01811947 0.99887041 -1.29371101] [ 0. 0. 0. 1. ]] SLAMing on 82.38719347 meters Centerline goodness : 0.879895 Centerline is valid? [False, False] Translation: X:8.50, Y:0.15, Z:-1.30 [[ 0.99826871 -0.03780273 -0.04506143 8.50402359] [ 0.0384335 0.99917378 0.01321432 0.1487984 ] [ 0.04452466 -0.01492331 0.99889682 -1.29543234] [ 0. 0. 0. 1. ]] SLAMing on 82.41719347 meters Centerline goodness : 0.876762 Centerline is valid? [False, False] Translation: X:8.51, Y:0.15, Z:-1.30 [[ 0.9981397 -0.04046875 -0.04560074 8.50707888] [ 0.04097729 0.99910727 0.01027278 0.1494561 ] [ 0.0451443 -0.01212227 0.99890692 -1.2975003 ] [ 0. 0. 0. 1. ]] SLAMing on 82.44719347 meters Centerline goodness : 0.875665 Centerline is valid? [False, False] Translation: X:8.51, Y:0.15, Z:-1.30 [[ 9.98028514e-01 -4.23950896e-02 -4.62789450e-02 8.51219242e+00] [ 4.28138301e-02 9.99050278e-01 8.09433409e-03 1.51028346e-01] [ 4.58918329e-02 -1.00597551e-02 9.98895761e-01 -1.30162531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47719347 meters Centerline goodness : 0.875190 Centerline is valid? [False, False] Translation: X:8.51, Y:0.15, Z:-1.30 [[ 9.98018644e-01 -4.20467696e-02 -4.68065719e-02 8.51471161e+00] [ 4.24799250e-02 9.99062862e-01 8.29779210e-03 1.52449433e-01] [ 4.64138124e-02 -1.02696909e-02 9.98869507e-01 -1.30340436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50719347 meters Centerline goodness : 0.872450 Centerline is valid? [False, False] Translation: X:8.52, Y:0.15, Z:-1.30 [[ 9.98016842e-01 -4.16513175e-02 -4.71969408e-02 8.51681833e+00] [ 4.20969410e-02 9.99077483e-01 8.48704785e-03 1.53992625e-01] [ 4.67999041e-02 -1.04570635e-02 9.98849548e-01 -1.30497975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53719347 meters Centerline goodness : 0.872306 Centerline is valid? [False, False] Translation: X:8.53, Y:0.15, Z:-1.31 [[ 0.99813304 -0.04361953 -0.04275234 8.529341 ] [ 0.04435203 0.99888238 0.01633701 0.15426946] [ 0.04199195 -0.01820267 0.99895212 -1.30929902] [ 0. 0. 0. 1. ]] SLAMing on 82.56719347 meters Centerline goodness : 0.871767 Centerline is valid? [False, False] Translation: X:8.53, Y:0.16, Z:-1.31 [[ 0.99799156 -0.04626275 -0.04327355 8.53195034] [ 0.0468822 0.9988104 0.01341061 0.15620719] [ 0.04260166 -0.01541243 0.99897325 -1.31081877] [ 0. 0. 0. 1. ]] SLAMing on 82.59719347000001 meters Centerline goodness : 0.872355 Centerline is valid? [False, False] Translation: X:8.55, Y:0.16, Z:-1.31 [[ 0.99792723 -0.04895475 -0.04176924 8.55149893] [ 0.04969153 0.99862353 0.01678666 0.15645695] [ 0.04088996 -0.01882744 0.99898626 -1.31330469] [ 0. 0. 0. 1. ]] SLAMing on 82.62719347 meters Centerline goodness : 0.873261 Centerline is valid? [False, False] Translation: X:8.56, Y:0.16, Z:-1.32 [[ 0.99790319 -0.0528018 -0.03743257 8.56493912] [ 0.05367489 0.99830006 0.02271561 0.15578968] [ 0.03616952 -0.02467717 0.99904094 -1.31745691] [ 0. 0. 0. 1. ]] SLAMing on 82.65719347 meters Centerline goodness : 0.872738 Centerline is valid? [False, False] Translation: X:8.58, Y:0.15, Z:-1.32 [[ 0.99787662 -0.05509433 -0.03474011 8.58252254] [ 0.0560533 0.99805552 0.02726192 0.15432249] [ 0.03317058 -0.02915133 0.99902448 -1.31971021] [ 0. 0. 0. 1. ]] SLAMing on 82.68719347 meters Centerline goodness : 0.875256 Centerline is valid? [False, False] Translation: X:8.59, Y:0.15, Z:-1.32 [[ 0.99794126 -0.05690808 -0.02957562 8.59310783] [ 0.05797651 0.99764612 0.03661877 0.15222223] [ 0.0274221 -0.03825807 0.99889156 -1.32321673] [ 0. 0. 0. 1. ]] SLAMing on 82.71719347 meters Centerline goodness : 0.875414 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99796441 -0.0589048 -0.02443887 8.60220889] [ 0.05999213 0.99711791 0.04644145 0.15131689] [ 0.02163281 -0.04781306 0.99862202 -1.32581863] [ 0. 0. 0. 1. ]] SLAMing on 82.74719347 meters Centerline goodness : 0.877841 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.9979416 -0.05916267 -0.02474538 8.60277545] [ 0.06025707 0.99711753 0.04610549 0.15246793] [ 0.02194633 -0.04750167 0.99863004 -1.32578063] [ 0. 0. 0. 1. ]] SLAMing on 82.77719347 meters Centerline goodness : 0.874484 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99788301 -0.05993346 -0.02524854 8.60359153] [ 0.06104421 0.9970839 0.04579638 0.15323534] [ 0.02243018 -0.0472407 0.99863167 -1.32551426] [ 0. 0. 0. 1. ]] SLAMing on 82.80719347 meters Centerline goodness : 0.876118 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99806783 -0.05674031 -0.02532089 8.6035572 ] [ 0.05793552 0.99710367 0.04927213 0.15295114] [ 0.02245184 -0.05064391 0.99846438 -1.32561193] [ 0. 0. 0. 1. ]] SLAMing on 82.83719347 meters Centerline goodness : 0.876118 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.99807434 -0.0566642 -0.02523444 8.60343197] [ 0.05784981 0.99712029 0.049036 0.15339521] [ 0.02238319 -0.05040139 0.99847819 -1.32566921] [ 0. 0. 0. 1. ]] SLAMing on 82.86719347 meters Centerline goodness : 0.877016 Centerline is valid? [False, False] Translation: X:8.60, Y:0.15, Z:-1.33 [[ 0.9980765 -0.05655015 -0.02540442 8.60444021] [ 0.05773687 0.99714327 0.04870075 0.15462366] [ 0.02257781 -0.05007385 0.99849029 -1.32629518] [ 0. 0. 0. 1. ]] SLAMing on 82.89719347 meters Centerline goodness : 0.876513 Centerline is valid? [False, False] Translation: X:8.61, Y:0.16, Z:-1.33 [[ 0.99805443 -0.05668548 -0.02596353 8.60573184] [ 0.05788697 0.99716208 0.04813411 0.15603595] [ 0.02316134 -0.04954342 0.99850338 -1.32659901] [ 0. 0. 0. 1. ]] SLAMing on 82.92719347 meters Centerline goodness : 0.876932 Centerline is valid? [False, False] Translation: X:8.61, Y:0.16, Z:-1.33 [[ 0.99802224 -0.05712085 -0.02624546 8.60632401] [ 0.05829693 0.9972169 0.04647491 0.16133043] [ 0.02351773 -0.04791303 0.99857461 -1.32672799] [ 0. 0. 0. 1. ]] SLAMing on 82.95719347 meters Centerline goodness : 0.876165 Centerline is valid? [False, False] Translation: X:8.61, Y:0.16, Z:-1.33 [[ 0.99800175 -0.05714551 -0.02696122 8.60833452] [ 0.05834177 0.99724124 0.04589287 0.16442739] [ 0.02426427 -0.04737413 0.99858246 -1.32766267] [ 0. 0. 0. 1. ]] SLAMing on 82.98719347000001 meters Centerline goodness : 0.874346 Centerline is valid? [False, False] Translation: X:8.61, Y:0.17, Z:-1.33 [[ 0.9980074 -0.05688189 -0.02730726 8.61015105] [ 0.05809116 0.99726256 0.0457472 0.16716482] [ 0.02463032 -0.04724235 0.99857975 -1.32900184] [ 0. 0. 0. 1. ]] SLAMing on 83.01719347 meters Centerline goodness : 0.873173 Centerline is valid? [False, False] Translation: X:8.61, Y:0.17, Z:-1.33 [[ 0.99783838 -0.05956905 -0.02775051 8.61317943] [ 0.06071777 0.99724655 0.04257547 0.17015112] [ 0.02513792 -0.04416839 0.99870778 -1.33157226] [ 0. 0. 0. 1. ]] SLAMing on 83.04719347 meters Centerline goodness : 0.872490 Centerline is valid? [False, False] Translation: X:8.62, Y:0.17, Z:-1.33 [[ 0.99762261 -0.06278038 -0.02842092 8.61634033] [ 0.06386438 0.99719659 0.03899104 0.17187164] [ 0.02589337 -0.04071343 0.9988353 -1.33338993] [ 0. 0. 0. 1. ]] SLAMing on 83.07719347 meters Centerline goodness : 0.872488 Centerline is valid? [False, False] Translation: X:8.62, Y:0.17, Z:-1.33 [[ 0.99757621 -0.06336715 -0.02874545 8.61743976] [ 0.0644478 0.99718317 0.03836938 0.17343156] [ 0.02623312 -0.04012896 0.99885008 -1.33395209] [ 0. 0. 0. 1. ]] SLAMing on 83.10719347 meters Centerline goodness : 0.874713 Centerline is valid? [False, False] Translation: X:8.62, Y:0.18, Z:-1.33 [[ 0.99751016 -0.06447013 -0.02858467 8.61660714] [ 0.06549057 0.99719167 0.03632849 0.17968796] [ 0.0261623 -0.03811006 0.99893101 -1.33325158] [ 0. 0. 0. 1. ]] SLAMing on 83.13719347 meters Centerline goodness : 0.874239 Centerline is valid? [False, False] Translation: X:8.62, Y:0.18, Z:-1.33 [[ 0.99749287 -0.06474549 -0.02856578 8.61617755] [ 0.0657327 0.99722005 0.035091 0.18387392] [ 0.02621439 -0.03688073 0.99897578 -1.33258569] [ 0. 0. 0. 1. ]] SLAMing on 83.16719347 meters Centerline goodness : 0.875559 Centerline is valid? [False, False] Translation: X:8.62, Y:0.19, Z:-1.33 [[ 0.99768981 -0.06160864 -0.02862548 8.61588303] [ 0.0626677 0.99732203 0.03770317 0.18614972] [ 0.02622598 -0.03940996 0.9988789 -1.33254578] [ 0. 0. 0. 1. ]] SLAMing on 83.19719347 meters Centerline goodness : 0.878543 Centerline is valid? [False, False] Translation: X:8.62, Y:0.19, Z:-1.33 [[ 0.99771499 -0.06098159 -0.02908695 8.61741212] [ 0.06204133 0.99738604 0.03703995 0.1897494 ] [ 0.02675216 -0.03875991 0.99889038 -1.33324817] [ 0. 0. 0. 1. ]] SLAMing on 83.22719347 meters Centerline goodness : 0.881715 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-1.33 [[ 0.99837671 -0.0510793 -0.02519633 8.61836308] [ 0.05178198 0.99826379 0.02807202 0.19843057] [ 0.02371869 -0.02933116 0.9992883 -1.3348956 ] [ 0. 0. 0. 1. ]] SLAMing on 83.25719347 meters Centerline goodness : 0.882322 Centerline is valid? [False, False] Translation: X:8.62, Y:0.20, Z:-1.33 [[ 0.99855643 -0.04726715 -0.02551227 8.61857017] [ 0.04804288 0.99837333 0.03070138 0.20306044] [ 0.02401961 -0.03188274 0.99920296 -1.3348172 ] [ 0. 0. 0. 1. ]] SLAMing on 83.28719347 meters Centerline goodness : 0.883230 Centerline is valid? [False, False] Translation: X:8.62, Y:0.21, Z:-1.34 [[ 0.99871842 -0.04344863 -0.02595649 8.619295 ] [ 0.04431126 0.99845129 0.03363818 0.20667739] [ 0.02445476 -0.03474523 0.99909696 -1.33508562] [ 0. 0. 0. 1. ]] SLAMing on 83.31719347 meters Centerline goodness : 0.885284 Centerline is valid? [False, False] Translation: X:8.62, Y:0.21, Z:-1.34 [[ 0.99874769 -0.04234784 -0.02664056 8.62177708] [ 0.04323507 0.99849775 0.03365955 0.21035129] [ 0.02517513 -0.03476921 0.99907823 -1.33655083] [ 0. 0. 0. 1. ]] SLAMing on 83.34719347000001 meters Centerline goodness : 0.886934 Centerline is valid? [False, False] Translation: X:8.63, Y:0.21, Z:-1.34 [[ 0.99872099 -0.0412976 -0.0291702 8.6293716 ] [ 0.04223759 0.99858279 0.03237893 0.2133582 ] [ 0.02779169 -0.03356959 0.9990499 -1.3391794 ] [ 0. 0. 0. 1. ]] SLAMing on 83.37719347 meters Centerline goodness : 0.884190 Centerline is valid? [False, False] Translation: X:8.63, Y:0.21, Z:-1.34 [[ 0.99865223 -0.04241738 -0.02990808 8.63322742] [ 0.04334003 0.99858219 0.03090711 0.2143633 ] [ 0.02855468 -0.03216168 0.9990747 -1.34196181] [ 0. 0. 0. 1. ]] SLAMing on 83.40719347 meters Centerline goodness : 0.882793 Centerline is valid? [False, False] Translation: X:8.64, Y:0.21, Z:-1.34 [[ 0.99864483 -0.04204267 -0.03067439 8.63596636] [ 0.04299995 0.99858635 0.03124575 0.21452395] [ 0.02931737 -0.0325224 0.99904093 -1.34365897] [ 0. 0. 0. 1. ]] SLAMing on 83.43719347 meters Centerline goodness : 0.885629 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.99865864 -0.04101366 -0.03160392 8.63932201] [ 0.0420169 0.99861191 0.03176219 0.21696823] [ 0.03025737 -0.03304749 0.99899567 -1.34561217] [ 0. 0. 0. 1. ]] SLAMing on 83.46719347 meters Centerline goodness : 0.886563 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.99865537 -0.04064828 -0.03217397 8.64081244] [ 0.04166811 0.99862887 0.03168843 0.21858567] [ 0.03084178 -0.03298645 0.99897982 -1.34605315] [ 0. 0. 0. 1. ]] SLAMing on 83.49719347 meters Centerline goodness : 0.888387 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.99865513 -0.04020783 -0.03272999 8.64236132] [ 0.04124722 0.99864513 0.03172635 0.21982897] [ 0.03141 -0.0330337 0.99896055 -1.34658113] [ 0. 0. 0. 1. ]] SLAMing on 83.52719347 meters Centerline goodness : 0.887705 Centerline is valid? [False, False] Translation: X:8.64, Y:0.22, Z:-1.35 [[ 0.9986498 -0.04003768 -0.03309913 8.64330122] [ 0.04108457 0.99865654 0.0315781 0.22058099] [ 0.03179035 -0.03289533 0.99895309 -1.34677179] [ 0. 0. 0. 1. ]] SLAMing on 83.55719347 meters Centerline goodness : 0.893654 Centerline is valid? [False, False] Translation: X:8.65, Y:0.22, Z:-1.35 [[ 0.99868652 -0.03842449 -0.0338938 8.64611438] [ 0.03952123 0.9986964 0.03230429 0.22123484] [ 0.03260834 -0.03360138 0.99890322 -1.34815376] [ 0. 0. 0. 1. ]] SLAMing on 83.58719347 meters Centerline goodness : 0.890037 Centerline is valid? [False, False] Translation: X:8.65, Y:0.22, Z:-1.35 [[ 0.99869324 -0.03772451 -0.03447727 8.64817696] [ 0.03884953 0.99871429 0.03256493 0.22205686] [ 0.03320445 -0.0338618 0.99887479 -1.34929816] [ 0. 0. 0. 1. ]] SLAMing on 83.61719347 meters Centerline goodness : 0.891834 Centerline is valid? [False, False] Translation: X:8.65, Y:0.22, Z:-1.35 [[ 0.99869799 -0.03693102 -0.03519124 8.65044789] [ 0.03809116 0.99873294 0.03288737 0.22318345] [ 0.03393208 -0.03418502 0.99883933 -1.35038402] [ 0. 0. 0. 1. ]] SLAMing on 83.64719347 meters Centerline goodness : 0.892384 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99868762 -0.03674624 -0.03567555 8.65149253] [ 0.0379062 0.99875587 0.03240126 0.22542919] [ 0.03444054 -0.03371106 0.99883803 -1.35050781] [ 0. 0. 0. 1. ]] SLAMing on 83.67719347 meters Centerline goodness : 0.890536 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99853542 -0.04043414 -0.0359458 8.65219261] [ 0.04146187 0.99873863 0.02832083 0.22662094] [ 0.03475533 -0.02976974 0.99895237 -1.35014323] [ 0. 0. 0. 1. ]] SLAMing on 83.70719347 meters Centerline goodness : 0.893703 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99835867 -0.04444356 -0.03612116 8.65247217] [ 0.04533854 0.99867494 0.02434723 0.22633101] [ 0.03499122 -0.02594495 0.99905079 -1.34943992] [ 0. 0. 0. 1. ]] SLAMing on 83.73719347000001 meters Centerline goodness : 0.896710 Centerline is valid? [False, False] Translation: X:8.65, Y:0.23, Z:-1.35 [[ 0.99816199 -0.04854123 -0.03628223 8.65291973] [ 0.04930781 0.9985724 0.02054009 0.22535336] [ 0.03523339 -0.02229133 0.99913047 -1.34897521] [ 0. 0. 0. 1. ]] SLAMing on 83.76719347 meters Centerline goodness : 0.899039 Centerline is valid? [False, False] Translation: X:8.67, Y:0.22, Z:-1.35 [[ 0.99791238 -0.05559574 -0.03286319 8.6687643 ] [ 0.05636846 0.99814339 0.02307323 0.22076934] [ 0.0315194 -0.02487751 0.99919349 -1.35162627] [ 0. 0. 0. 1. ]] SLAMing on 83.79719347 meters Centerline goodness : 0.898877 Centerline is valid? [False, False] Translation: X:8.67, Y:0.22, Z:-1.35 [[ 0.99768024 -0.0594631 -0.03314031 8.67008844] [ 0.06013343 0.99799769 0.0196105 0.21943894] [ 0.03190785 -0.02155785 0.9992583 -1.3518811 ] [ 0. 0. 0. 1. ]] SLAMing on 83.82719347 meters Centerline goodness : 0.899910 Centerline is valid? [False, False] Translation: X:8.69, Y:0.22, Z:-1.35 [[ 0.99755548 -0.06274681 -0.03075547 8.68764138] [ 0.0635084 0.99768189 0.02444435 0.21609782] [ 0.02915037 -0.02633782 0.99922799 -1.35456734] [ 0. 0. 0. 1. ]] SLAMing on 83.85719347 meters Centerline goodness : 0.895219 Centerline is valid? [False, False] Translation: X:8.70, Y:0.21, Z:-1.36 [[ 0.997448 -0.06598252 -0.02727254 8.70290749] [ 0.06681887 0.99728389 0.03098525 0.2128361 ] [ 0.02515398 -0.0327285 0.9991477 -1.35896439] [ 0. 0. 0. 1. ]] SLAMing on 83.88719347 meters Centerline goodness : 0.895920 Centerline is valid? [False, False] Translation: X:8.71, Y:0.21, Z:-1.36 [[ 0.99696796 -0.07219587 -0.02902834 8.70695588] [ 0.0730753 0.99686086 0.03046996 0.20799084] [ 0.02673741 -0.03249882 0.99911408 -1.3572644 ] [ 0. 0. 0. 1. ]] SLAMing on 83.91719347 meters Centerline goodness : 0.898209 Centerline is valid? [False, False] Translation: X:8.71, Y:0.21, Z:-1.36 [[ 0.99678058 -0.07416708 -0.03045838 8.70980769] [ 0.07512706 0.99667047 0.03168451 0.20612866] [ 0.02800702 -0.03387075 0.99903372 -1.35612628] [ 0. 0. 0. 1. ]] SLAMing on 83.94719347 meters Centerline goodness : 0.895468 Centerline is valid? [False, False] Translation: X:8.72, Y:0.20, Z:-1.36 [[ 0.99680383 -0.07519516 -0.02697785 8.72427245] [ 0.07626423 0.99624151 0.04106855 0.20345267] [ 0.0237883 -0.04299473 0.99879206 -1.36095403] [ 0. 0. 0. 1. ]] SLAMing on 83.97719347 meters Centerline goodness : 0.898786 Centerline is valid? [False, False] Translation: X:8.72, Y:0.20, Z:-1.36 [[ 0.99648423 -0.07381142 -0.03963648 8.72261702] [ 0.07546775 0.99626092 0.04205697 0.19750011] [ 0.03638399 -0.04490038 0.99832868 -1.35666837] [ 0. 0. 0. 1. ]] SLAMing on 84.00719347 meters Centerline goodness : 0.900626 Centerline is valid? [False, False] Translation: X:8.72, Y:0.20, Z:-1.36 [[ 0.99630886 -0.07625004 -0.03942827 8.72329276] [ 0.07775862 0.99623791 0.03825742 0.19791627] [ 0.03636281 -0.0411821 0.99848975 -1.35799799] [ 0. 0. 0. 1. ]] SLAMing on 84.03719347 meters Centerline goodness : 0.903043 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.9963402 -0.07555134 -0.03997744 8.72546033] [ 0.07710404 0.99626637 0.03883668 0.19728309] [ 0.03689402 -0.04177697 0.99844555 -1.35958201] [ 0. 0. 0. 1. ]] SLAMing on 84.06719347 meters Centerline goodness : 0.905193 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99665276 -0.0706779 -0.04108416 8.72686124] [ 0.07242376 0.99646018 0.04268387 0.1988675 ] [ 0.03792192 -0.04551647 0.99824355 -1.35948792] [ 0. 0. 0. 1. ]] SLAMing on 84.09719347000001 meters Centerline goodness : 0.905098 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99676066 -0.06921514 -0.0409566 8.72529084] [ 0.07096349 0.99655616 0.04289529 0.20086192] [ 0.03784654 -0.04566276 0.99823973 -1.35829634] [ 0. 0. 0. 1. ]] SLAMing on 84.12719347 meters Centerline goodness : 0.906786 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99677421 -0.06871368 -0.04146816 8.72611261] [ 0.07047614 0.99660122 0.04265115 0.20235395] [ 0.0383965 -0.04543608 0.99822907 -1.35802784] [ 0. 0. 0. 1. ]] SLAMing on 84.15719347 meters Centerline goodness : 0.908451 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99672948 -0.06899982 -0.04206385 8.7276856 ] [ 0.07075169 0.99662249 0.04168709 0.20346594] [ 0.03904538 -0.04452684 0.99824487 -1.35844663] [ 0. 0. 0. 1. ]] SLAMing on 84.18719347 meters Centerline goodness : 0.910213 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99649906 -0.07185813 -0.04273203 8.73001393] [ 0.07348816 0.99657637 0.03788176 0.20480082] [ 0.03986362 -0.04088943 0.99836814 -1.35890356] [ 0. 0. 0. 1. ]] SLAMing on 84.21719347 meters Centerline goodness : 0.909139 Centerline is valid? [False, False] Translation: X:8.73, Y:0.20, Z:-1.36 [[ 0.99638357 -0.07302682 -0.04343811 8.7307197 ] [ 0.07470034 0.99647266 0.03823748 0.20484809] [ 0.04049253 -0.04134404 0.99832411 -1.35749236] [ 0. 0. 0. 1. ]] SLAMing on 84.24719347 meters Centerline goodness : 0.913467 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.36 [[ 0.99628809 -0.07359097 -0.04465886 8.73220044] [ 0.07537049 0.99637043 0.03956328 0.20511476] [ 0.04158527 -0.04278239 0.99821858 -1.3558028 ] [ 0. 0. 0. 1. ]] SLAMing on 84.27719347 meters Centerline goodness : 0.916286 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99615182 -0.07510973 -0.04516716 8.7315475 ] [ 0.07690451 0.99625949 0.0394045 0.20632058] [ 0.04203855 -0.04272642 0.99820199 -1.35315888] [ 0. 0. 0. 1. ]] SLAMing on 84.30719347 meters Centerline goodness : 0.915653 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99599158 -0.07655273 -0.04626511 8.73302136] [ 0.07837821 0.99615976 0.03902046 0.20823172] [ 0.04310032 -0.04249023 0.99816679 -1.35216452] [ 0. 0. 0. 1. ]] SLAMing on 84.33719347 meters Centerline goodness : 0.915842 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99595989 -0.07677384 -0.04657976 8.7339219 ] [ 0.07859507 0.99615851 0.03861384 0.20907718] [ 0.04343629 -0.04211877 0.99816797 -1.35270865] [ 0. 0. 0. 1. ]] SLAMing on 84.36719347 meters Centerline goodness : 0.916418 Centerline is valid? [False, False] Translation: X:8.73, Y:0.21, Z:-1.35 [[ 0.99581678 -0.07891111 -0.04606491 8.73302047] [ 0.0805279 0.99615983 0.03436362 0.21137352] [ 0.04317634 -0.03792938 0.99834722 -1.35305688] [ 0. 0. 0. 1. ]] SLAMing on 84.39719347 meters Centerline goodness : 0.915795 Centerline is valid? [False, False] Translation: X:8.73, Y:0.22, Z:-1.35 [[ 0.99570615 -0.07999171 -0.04658954 8.73435174] [ 0.08152725 0.99615581 0.03204537 0.21582426] [ 0.04384708 -0.03570609 0.99839997 -1.35426169] [ 0. 0. 0. 1. ]] SLAMing on 84.42719347 meters Centerline goodness : 0.912003 Centerline is valid? [False, False] Translation: X:8.74, Y:0.22, Z:-1.35 [[ 0.99565443 -0.08008215 -0.04753009 8.73630729] [ 0.08162962 0.99616294 0.03155938 0.21878884] [ 0.04482037 -0.03530209 0.99837112 -1.35491031] [ 0. 0. 0. 1. ]] SLAMing on 84.45719347 meters Centerline goodness : 0.915872 Centerline is valid? [False, False] Translation: X:8.74, Y:0.22, Z:-1.36 [[ 0.99569139 -0.07910186 -0.04838949 8.73903282] [ 0.08068284 0.99623757 0.03163837 0.22157546] [ 0.04570478 -0.03540626 0.99832734 -1.35639787] [ 0. 0. 0. 1. ]] SLAMing on 84.48719347 meters Centerline goodness : 0.915747 Centerline is valid? [False, False] Translation: X:8.74, Y:0.22, Z:-1.36 [[ 0.99565839 -0.07941358 -0.04855765 8.73937263] [ 0.08093292 0.99626299 0.03016478 0.22474344] [ 0.0459807 -0.03396373 0.99836478 -1.3570244 ] [ 0. 0. 0. 1. ]] SLAMing on 84.51719347 meters Centerline goodness : 0.905836 Centerline is valid? [False, False] Translation: X:8.74, Y:0.23, Z:-1.36 [[ 0.99565375 -0.079621 -0.04831265 8.73946464] [ 0.08099908 0.99634113 0.02726742 0.22936611] [ 0.04596483 -0.03106219 0.99846 -1.35889759] [ 0. 0. 0. 1. ]] SLAMing on 84.54719347 meters Centerline goodness : 0.913009 Centerline is valid? [False, False] Translation: X:8.74, Y:0.23, Z:-1.36 [[ 0.99568107 -0.07931811 -0.04824776 8.73947373] [ 0.08064538 0.99639815 0.02621181 0.23125776] [ 0.04599491 -0.02998956 0.99849141 -1.35959742] [ 0. 0. 0. 1. ]] SLAMing on 84.57719347 meters Centerline goodness : 0.915036 Centerline is valid? [False, False] Translation: X:8.74, Y:0.23, Z:-1.36 [[ 0.99567967 -0.07927872 -0.04834136 8.739308 ] [ 0.08055753 0.99643381 0.02510283 0.23377021] [ 0.04617884 -0.02888863 0.99851538 -1.35965227] [ 0. 0. 0. 1. ]] SLAMing on 84.60719347 meters Centerline goodness : 0.908308 Centerline is valid? [False, False] Translation: X:8.74, Y:0.24, Z:-1.36 [[ 0.99563156 -0.0785972 -0.05040112 8.74105622] [ 0.08004503 0.99641518 0.02737854 0.24019463] [ 0.04806856 -0.0312933 0.99835372 -1.35743895] [ 0. 0. 0. 1. ]] SLAMing on 84.63719347 meters Centerline goodness : 0.913075 Centerline is valid? [False, False] Translation: X:8.74, Y:0.24, Z:-1.36 [[ 0.99560698 -0.07853961 -0.05097316 8.74234581] [ 0.07997468 0.99643791 0.0267496 0.2435669 ] [ 0.04869069 -0.03070865 0.99834172 -1.35774715] [ 0. 0. 0. 1. ]] SLAMing on 84.66719347 meters Centerline goodness : 0.910508 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99556944 -0.07877284 -0.05134518 8.74346999] [ 0.08018037 0.99644246 0.02595232 0.246117 ] [ 0.04911818 -0.02995421 0.9983437 -1.35824982] [ 0. 0. 0. 1. ]] SLAMing on 84.69719347 meters Centerline goodness : 0.910527 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.9955599 -0.07873238 -0.05159156 8.74422004] [ 0.08009555 0.99647596 0.0249071 0.24923465] [ 0.04944875 -0.02892877 0.99835762 -1.35843111] [ 0. 0. 0. 1. ]] SLAMing on 84.72719347 meters Centerline goodness : 0.911436 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99552001 -0.07915744 -0.05171086 8.74397848] [ 0.08048024 0.99646682 0.02401666 0.25125138] [ 0.04962706 -0.02807077 0.99837327 -1.3577643 ] [ 0. 0. 0. 1. ]] SLAMing on 84.75719347 meters Centerline goodness : 0.912102 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99546268 -0.07969307 -0.05199104 8.74395659] [ 0.08097746 0.99644866 0.02308078 0.25355664] [ 0.04996702 -0.02718616 0.99838079 -1.35699443] [ 0. 0. 0. 1. ]] SLAMing on 84.78719347 meters Centerline goodness : 0.912102 Centerline is valid? [False, False] Translation: X:8.74, Y:0.25, Z:-1.36 [[ 0.99546268 -0.07969307 -0.05199104 8.74395659] [ 0.08097746 0.99644866 0.02308078 0.25355664] [ 0.04996702 -0.02718616 0.99838079 -1.35699443] [ 0. 0. 0. 1. ]] SLAMing on 84.81719347 meters Centerline goodness : 0.911424 Centerline is valid? [False, False] Translation: X:8.74, Y:0.26, Z:-1.35 [[ 0.99537637 -0.08075297 -0.05200805 8.74223729] [ 0.08195687 0.99640515 0.02144387 0.25751214] [ 0.05008943 -0.02560714 0.99841641 -1.35478049] [ 0. 0. 0. 1. ]] SLAMing on 84.84719347000001 meters Centerline goodness : 0.910558 Centerline is valid? [False, False] Translation: X:8.74, Y:0.26, Z:-1.35 [[ 0.99535034 -0.08072882 -0.05254098 8.74345788] [ 0.08194273 0.99640787 0.02137175 0.25811904] [ 0.05062693 -0.02557773 0.99839005 -1.35499736] [ 0. 0. 0. 1. ]] SLAMing on 84.87719347 meters Centerline goodness : 0.902722 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.9951613 -0.08272905 -0.05300845 8.74711351] [ 0.08384275 0.99629519 0.01913865 0.25834429] [ 0.05122874 -0.02349042 0.99841065 -1.35748606] [ 0. 0. 0. 1. ]] SLAMing on 84.90719347 meters Centerline goodness : 0.902907 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99495438 -0.084969 -0.05334839 8.74982852] [ 0.0859547 0.99616309 0.01645847 0.25967594] [ 0.05174523 -0.02096097 0.99844032 -1.3590751 ] [ 0. 0. 0. 1. ]] SLAMing on 84.93719347 meters Centerline goodness : 0.905407 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99494809 -0.08477363 -0.05377487 8.75080212] [ 0.08576239 0.99618146 0.01634982 0.26036431] [ 0.0521835 -0.02087908 0.99841922 -1.35927637] [ 0. 0. 0. 1. ]] SLAMing on 84.96719347 meters Centerline goodness : 0.903760 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99493392 -0.08475959 -0.05405845 8.75110424] [ 0.08573499 0.99618977 0.01598308 0.261509 ] [ 0.05249775 -0.02053681 0.99840985 -1.35883212] [ 0. 0. 0. 1. ]] SLAMing on 84.99719347 meters Centerline goodness : 0.904941 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99500915 -0.08346402 -0.05468597 8.75304708] [ 0.08447279 0.99629084 0.01639827 0.26336333] [ 0.05311447 -0.0209359 0.99836894 -1.35948991] [ 0. 0. 0. 1. ]] SLAMing on 85.02719347 meters Centerline goodness : 0.901476 Centerline is valid? [False, False] Translation: X:8.75, Y:0.26, Z:-1.36 [[ 0.99500971 -0.08322568 -0.05503783 8.75405214] [ 0.08423782 0.99631187 0.01632905 0.26419852] [ 0.05347585 -0.02088383 0.99835074 -1.35987786] [ 0. 0. 0. 1. ]] SLAMing on 85.05719347 meters Centerline goodness : 0.905413 Centerline is valid? [False, False] Translation: X:8.76, Y:0.27, Z:-1.36 [[ 0.99478102 -0.08568664 -0.05539431 8.75656876] [ 0.0865533 0.99615662 0.01343586 0.26558909] [ 0.05403013 -0.0181603 0.99837415 -1.36115244] [ 0. 0. 0. 1. ]] SLAMing on 85.08719347 meters Centerline goodness : 0.904108 Centerline is valid? [False, False] Translation: X:8.76, Y:0.26, Z:-1.36 [[ 0.99476625 -0.08566466 -0.05569264 8.75756519] [ 0.08655128 0.99615315 0.01370334 0.26496939] [ 0.0543045 -0.01845189 0.99835392 -1.36165466] [ 0. 0. 0. 1. ]] SLAMing on 85.11719347 meters Centerline goodness : 0.909307 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.9946374 -0.09080396 -0.04950835 8.76720905] [ 0.09182509 0.99559857 0.01875197 0.26563413] [ 0.04758769 -0.02319752 0.99859766 -1.36355259] [ 0. 0. 0. 1. ]] SLAMing on 85.14719347 meters Centerline goodness : 0.904945 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99460768 -0.09101666 -0.04971453 8.76754552] [ 0.09203061 0.99558436 0.0184974 0.26624047] [ 0.04781144 -0.02297292 0.99859216 -1.36335879] [ 0. 0. 0. 1. ]] SLAMing on 85.17719347 meters Centerline goodness : 0.905393 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99457983 -0.09119297 -0.04994794 8.76812056] [ 0.09220007 0.99557344 0.01823956 0.26689712] [ 0.04806352 -0.0227459 0.99858526 -1.36348017] [ 0. 0. 0. 1. ]] SLAMing on 85.20719347 meters Centerline goodness : 0.901536 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99431421 -0.09418231 -0.04968851 8.76902515] [ 0.0949979 0.9953746 0.01431087 0.26876792] [ 0.04811085 -0.01894981 0.99866223 -1.36368535] [ 0. 0. 0. 1. ]] SLAMing on 85.23719347 meters Centerline goodness : 0.905706 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99433526 -0.09403376 -0.04954845 8.76878816] [ 0.09483506 0.99539353 0.01407204 0.26963607] [ 0.04799696 -0.01869125 0.99867258 -1.36349566] [ 0. 0. 0. 1. ]] SLAMing on 85.26719347 meters Centerline goodness : 0.903505 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99436643 -0.0936318 -0.04968398 8.76900939] [ 0.09442373 0.99543597 0.01383409 0.27201606] [ 0.04816191 -0.01844751 0.99866917 -1.36334275] [ 0. 0. 0. 1. ]] SLAMing on 85.29719347 meters Centerline goodness : 0.904526 Centerline is valid? [False, False] Translation: X:8.77, Y:0.27, Z:-1.36 [[ 0.99467298 -0.09005122 -0.05016419 8.76917053] [ 0.09101183 0.99570124 0.01720135 0.27347236] [ 0.04839955 -0.02167526 0.99859284 -1.36335504] [ 0. 0. 0. 1. ]] SLAMing on 85.32719347 meters Centerline goodness : 0.900952 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.36 [[ 0.99501085 -0.08574445 -0.05100288 8.77037432] [ 0.08688517 0.9960057 0.02058174 0.27675426] [ 0.04903439 -0.02491045 0.9984864 -1.36375735] [ 0. 0. 0. 1. ]] SLAMing on 85.35719347 meters Centerline goodness : 0.900448 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.36 [[ 0.99503496 -0.08537763 -0.05114767 8.7713674 ] [ 0.08651375 0.99604132 0.02042228 0.27773109] [ 0.04920158 -0.02474586 0.99848227 -1.36453188] [ 0. 0. 0. 1. ]] SLAMing on 85.38719347 meters Centerline goodness : 0.901018 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.37 [[ 0.9950712 -0.08469611 -0.05157407 8.77336645] [ 0.08585796 0.99609147 0.02074129 0.27816593] [ 0.04961579 -0.0250671 0.99845376 -1.36591136] [ 0. 0. 0. 1. ]] SLAMing on 85.41719347 meters Centerline goodness : 0.898629 Centerline is valid? [False, False] Translation: X:8.77, Y:0.28, Z:-1.37 [[ 0.99539014 -0.08052213 -0.05210242 8.77453961] [ 0.08187934 0.99634211 0.02445758 0.27968566] [ 0.04994246 -0.02861094 0.99834221 -1.36701004] [ 0. 0. 0. 1. ]] SLAMing on 85.44719347 meters Centerline goodness : 0.895377 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99541142 -0.07993564 -0.05259652 8.77605791] [ 0.08130374 0.99639056 0.02440379 0.28180858] [ 0.05045595 -0.0285681 0.99831762 -1.36769462] [ 0. 0. 0. 1. ]] SLAMing on 85.47719347 meters Centerline goodness : 0.891863 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99547603 -0.07861422 -0.05335988 8.7788759 ] [ 0.08004054 0.99647458 0.02513808 0.28257888] [ 0.05119556 -0.02929531 0.99825888 -1.36925623] [ 0. 0. 0. 1. ]] SLAMing on 85.50719347 meters Centerline goodness : 0.895914 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99647477 -0.07017574 -0.04597167 8.77603219] [ 0.07106213 0.9973106 0.01793726 0.28230868] [ 0.04458928 -0.02114088 0.99878169 -1.3691622 ] [ 0. 0. 0. 1. ]] SLAMing on 85.53719347 meters Centerline goodness : 0.895580 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99651717 -0.06941469 -0.0462075 8.77661339] [ 0.07032 0.99735731 0.01826204 0.28240246] [ 0.04481774 -0.02144775 0.99876492 -1.36892351] [ 0. 0. 0. 1. ]] SLAMing on 85.56719347 meters Centerline goodness : 0.898472 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.9965558 -0.06893226 -0.0460964 8.77597535] [ 0.0698379 0.9973899 0.01833157 0.28247051] [ 0.04471244 -0.02148771 0.99876878 -1.36798538] [ 0. 0. 0. 1. ]] SLAMing on 85.59719347000001 meters Centerline goodness : 0.906237 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99667145 -0.06679467 -0.04673863 8.77702533] [ 0.06776475 0.99751101 0.01948643 0.28104086] [ 0.04532071 -0.0225888 0.99871707 -1.36653896] [ 0. 0. 0. 1. ]] SLAMing on 85.62719347 meters Centerline goodness : 0.905168 Centerline is valid? [False, False] Translation: X:8.78, Y:0.28, Z:-1.37 [[ 0.99668999 -0.06633375 -0.0469989 8.77786364] [ 0.06734401 0.99752436 0.02024668 0.27812659] [ 0.04553951 -0.02334476 0.99868973 -1.36664226] [ 0. 0. 0. 1. ]] SLAMing on 85.65719347 meters Centerline goodness : 0.895776 Centerline is valid? [False, False] Translation: X:8.78, Y:0.27, Z:-1.37 [[ 0.99651546 -0.06866857 -0.0473451 8.78032506] [ 0.06959362 0.99740988 0.018173 0.27457499] [ 0.04597456 -0.0214046 0.99871326 -1.36768277] [ 0. 0. 0. 1. ]] SLAMing on 85.68719347 meters Centerline goodness : 0.901569 Centerline is valid? [False, False] Translation: X:8.78, Y:0.27, Z:-1.37 [[ 0.99631277 -0.07135441 -0.04763842 8.78247917] [ 0.07219009 0.99726164 0.01605626 0.27024212] [ 0.04636229 -0.01943608 0.99873559 -1.36851309] [ 0. 0. 0. 1. ]] SLAMing on 85.71719347 meters Centerline goodness : 0.900381 Centerline is valid? [False, False] Translation: X:8.79, Y:0.26, Z:-1.37 [[ 0.99615248 -0.07305657 -0.04840427 8.78508631] [ 0.07389867 0.99713995 0.01583986 0.26018209] [ 0.04710862 -0.01935593 0.99870222 -1.36841654] [ 0. 0. 0. 1. ]] SLAMing on 85.74719347 meters Centerline goodness : 0.900262 Centerline is valid? [False, False] Translation: X:8.79, Y:0.26, Z:-1.37 [[ 0.99591756 -0.07607561 -0.04858728 8.786075 ] [ 0.07681561 0.99695329 0.01354641 0.25643326] [ 0.0474087 -0.01722337 0.99872708 -1.36807565] [ 0. 0. 0. 1. ]] SLAMing on 85.77719347 meters Centerline goodness : 0.902495 Centerline is valid? [False, False] Translation: X:8.79, Y:0.25, Z:-1.37 [[ 0.99570454 -0.07873623 -0.04871415 8.78730363] [ 0.07940085 0.99677222 0.01185912 0.25098026] [ 0.04762317 -0.01567612 0.99874236 -1.36808308] [ 0. 0. 0. 1. ]] SLAMing on 85.80719347 meters Centerline goodness : 0.905727 Centerline is valid? [False, False] Translation: X:8.80, Y:0.24, Z:-1.37 [[ 9.95292696e-01 -8.23531905e-02 -5.10920821e-02 8.79573974e+00] [ 8.28751154e-02 9.96526378e-01 8.17876841e-03 2.36541384e-01] [ 5.02410599e-02 -1.23745307e-02 9.98660456e-01 -1.36821780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83719347 meters Centerline goodness : 0.900489 Centerline is valid? [False, False] Translation: X:8.80, Y:0.23, Z:-1.37 [[ 9.95058395e-01 -8.48710065e-02 -5.15335175e-02 8.79855569e+00] [ 8.53385173e-02 9.96327869e-01 6.93643483e-03 2.30214666e-01] [ 5.07555775e-02 -1.12999517e-02 9.98647176e-01 -1.36961475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86719347 meters Centerline goodness : 0.894953 Centerline is valid? [False, False] Translation: X:8.80, Y:0.22, Z:-1.37 [[ 9.94802802e-01 -8.77265778e-02 -5.16858999e-02 8.80013888e+00] [ 8.81825192e-02 9.96082444e-01 6.60360202e-03 2.24367384e-01] [ 5.09041061e-02 -1.11270747e-02 9.98641557e-01 -1.36932926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89719347 meters Centerline goodness : 0.886493 Centerline is valid? [False, False] Translation: X:8.81, Y:0.21, Z:-1.37 [[ 0.99434586 -0.09036151 -0.05577729 8.80766771] [ 0.09134082 0.99570276 0.01526009 0.2106151 ] [ 0.05415867 -0.02026855 0.99832661 -1.37104616] [ 0. 0. 0. 1. ]] SLAMing on 85.92719347 meters Centerline goodness : 0.887850 Centerline is valid? [False, False] Translation: X:8.81, Y:0.20, Z:-1.37 [[ 0.99430697 -0.09041045 -0.05638786 8.81106161] [ 0.09154698 0.9956398 0.01790373 0.20356966] [ 0.05452331 -0.02296394 0.9982484 -1.37259022] [ 0. 0. 0. 1. ]] SLAMing on 85.95719347 meters Centerline goodness : 0.885900 Centerline is valid? [False, False] Translation: X:8.81, Y:0.20, Z:-1.37 [[ 0.9940941 -0.09294235 -0.05602364 8.81244338] [ 0.09401818 0.99542741 0.01687781 0.19733666] [ 0.0541988 -0.02204537 0.99828678 -1.37352153] [ 0. 0. 0. 1. ]] SLAMing on 85.98719347 meters Centerline goodness : 0.885884 Centerline is valid? [False, False] Translation: X:8.82, Y:0.18, Z:-1.38 [[ 0.99326912 -0.098244 -0.06135603 8.8225001 ] [ 0.0997737 0.99475846 0.02237899 0.18399872] [ 0.05883583 -0.02835007 0.99786503 -1.37528513] [ 0. 0. 0. 1. ]] SLAMing on 86.01719347 meters Centerline goodness : 0.884797 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.37 [[ 0.99305488 -0.09951114 -0.06276567 8.825826 ] [ 0.10125874 0.99453843 0.02529774 0.17789709] [ 0.05990546 -0.03147762 0.99770762 -1.37428635] [ 0. 0. 0. 1. ]] SLAMing on 86.04719347 meters Centerline goodness : 0.884233 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.37 [[ 0.99279245 -0.10117928 -0.06423323 8.82892156] [ 0.10313233 0.99427777 0.02784679 0.17238072] [ 0.06104815 -0.0342706 0.99754631 -1.37272199] [ 0. 0. 0. 1. ]] SLAMing on 86.07719347 meters Centerline goodness : 0.885712 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.37 [[ 0.99239352 -0.10486261 -0.06448976 8.83010638] [ 0.10674591 0.99393375 0.02647657 0.16840679] [ 0.06132215 -0.03315919 0.99756707 -1.37156704] [ 0. 0. 0. 1. ]] SLAMing on 86.10719347 meters Centerline goodness : 0.887687 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.37 [[ 0.99185008 -0.10961832 -0.06494034 8.83045493] [ 0.11154814 0.99339582 0.0268654 0.15864667] [ 0.06156653 -0.03389042 0.99752744 -1.36737828] [ 0. 0. 0. 1. ]] SLAMing on 86.13719347 meters Centerline goodness : 0.890815 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99178578 -0.1097272 -0.06573356 8.83173802] [ 0.11187752 0.99327007 0.0299664 0.15308909] [ 0.06200305 -0.03707436 0.99738714 -1.36538521] [ 0. 0. 0. 1. ]] SLAMing on 86.16719347 meters Centerline goodness : 0.890363 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.9916393 -0.11097389 -0.06585049 8.83054379] [ 0.11319262 0.99309038 0.03096642 0.14944911] [ 0.06195903 -0.03816131 0.99734888 -1.36226199] [ 0. 0. 0. 1. ]] SLAMing on 86.19719347 meters Centerline goodness : 0.891279 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99150923 -0.11152333 -0.06687298 8.83188907] [ 0.11388754 0.99295738 0.03263857 0.14722778] [ 0.06276206 -0.03997745 0.99722752 -1.36047454] [ 0. 0. 0. 1. ]] SLAMing on 86.22719347 meters Centerline goodness : 0.892044 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99126813 -0.11289699 -0.06813049 8.83414103] [ 0.11539888 0.99273837 0.03396513 0.14477234] [ 0.06380119 -0.04153073 0.99709809 -1.35908293] [ 0. 0. 0. 1. ]] SLAMing on 86.25719347 meters Centerline goodness : 0.891515 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99096857 -0.1159076 -0.06742939 8.83382315] [ 0.11815463 0.99253171 0.0303363 0.14474633] [ 0.0634096 -0.03802942 0.99726275 -1.35954365] [ 0. 0. 0. 1. ]] SLAMing on 86.28719347 meters Centerline goodness : 0.894345 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99098639 -0.11565236 -0.06760548 8.83487964] [ 0.11794662 0.99253663 0.03097806 0.14311933] [ 0.06351823 -0.03867267 0.9972311 -1.36009168] [ 0. 0. 0. 1. ]] SLAMing on 86.31719347 meters Centerline goodness : 0.897436 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99107715 -0.11496292 -0.06745085 8.83483892] [ 0.1172906 0.99259426 0.03161569 0.14209998] [ 0.06331669 -0.03924493 0.99722156 -1.36009269] [ 0. 0. 0. 1. ]] SLAMing on 86.34719347000001 meters Centerline goodness : 0.899504 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99110542 -0.11461913 -0.06762022 8.83433251] [ 0.11698419 0.99261467 0.03210628 0.14272931] [ 0.06344083 -0.03973121 0.99719441 -1.35899992] [ 0. 0. 0. 1. ]] SLAMing on 86.37719347 meters Centerline goodness : 0.901090 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.36 [[ 0.99117054 -0.11387622 -0.06792032 8.83403463] [ 0.11629813 0.99267174 0.03282635 0.14383715] [ 0.06368444 -0.04043551 0.99715057 -1.35792637] [ 0. 0. 0. 1. ]] SLAMing on 86.40719347 meters Centerline goodness : 0.903613 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99156201 -0.11010537 -0.06842212 8.83349701] [ 0.1127691 0.99295575 0.03635947 0.14546799] [ 0.06393677 -0.04376857 0.99699368 -1.35701979] [ 0. 0. 0. 1. ]] SLAMing on 86.43719347 meters Centerline goodness : 0.903325 Centerline is valid? [False, False] Translation: X:8.83, Y:0.14, Z:-1.35 [[ 0.991897 -0.10333076 -0.07391276 8.82705415] [ 0.10595232 0.99384116 0.03246297 0.14485178] [ 0.07010312 -0.04003115 0.9967362 -1.35493674] [ 0. 0. 0. 1. ]] SLAMing on 86.46719347 meters Centerline goodness : 0.903437 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99198951 -0.10275728 -0.07346939 8.82694431] [ 0.10524477 0.99396871 0.03081805 0.14822452] [ 0.06985949 -0.03830345 0.9968212 -1.35674685] [ 0. 0. 0. 1. ]] SLAMing on 86.49719347 meters Centerline goodness : 0.904080 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.36 [[ 0.99220857 -0.10118398 -0.07269087 8.82562801] [ 0.10354804 0.99418642 0.02951562 0.15201692] [ 0.06928177 -0.03681265 0.99691768 -1.35800553] [ 0. 0. 0. 1. ]] SLAMing on 86.52719347 meters Centerline goodness : 0.908795 Centerline is valid? [False, False] Translation: X:8.82, Y:0.16, Z:-1.35 [[ 0.99320519 -0.09294208 -0.07003728 8.82341957] [ 0.09481067 0.99520986 0.0238384 0.15911332] [ 0.06748621 -0.0303167 0.9972595 -1.35488312] [ 0. 0. 0. 1. ]] SLAMing on 86.55719347 meters Centerline goodness : 0.908762 Centerline is valid? [False, False] Translation: X:8.82, Y:0.16, Z:-1.36 [[ 0.99358414 -0.08884145 -0.06998392 8.82297662] [ 0.09086479 0.99551661 0.02627283 0.16152788] [ 0.06733604 -0.03246334 0.99720208 -1.35573834] [ 0. 0. 0. 1. ]] SLAMing on 86.58719347 meters Centerline goodness : 0.910096 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99378699 -0.08705374 -0.06934745 8.82203871] [ 0.08895427 0.99572691 0.02480052 0.16583496] [ 0.06689214 -0.03081519 0.99728425 -1.35735697] [ 0. 0. 0. 1. ]] SLAMing on 86.61719347 meters Centerline goodness : 0.909085 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99406462 -0.08352249 -0.06971033 8.82273652] [ 0.08558051 0.99596339 0.02707232 0.16863436] [ 0.06716779 -0.03287749 0.99719986 -1.35855902] [ 0. 0. 0. 1. ]] SLAMing on 86.64719347 meters Centerline goodness : 0.908754 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99417343 -0.0824053 -0.06948783 8.82411734] [ 0.08429369 0.99613499 0.02469137 0.1742836 ] [ 0.06718456 -0.03040489 0.99727718 -1.36224737] [ 0. 0. 0. 1. ]] SLAMing on 86.67719347 meters Centerline goodness : 0.908754 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.36 [[ 0.99417343 -0.0824053 -0.06948783 8.82411734] [ 0.08429369 0.99613499 0.02469137 0.1742836 ] [ 0.06718456 -0.03040489 0.99727718 -1.36224737] [ 0. 0. 0. 1. ]] SLAMing on 86.70719347 meters Centerline goodness : 0.906971 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.36 [[ 0.99408977 -0.08320756 -0.06972827 8.82595358] [ 0.08502602 0.99610097 0.02352515 0.17487418] [ 0.06749893 -0.02931483 0.99728859 -1.36395903] [ 0. 0. 0. 1. ]] SLAMing on 86.73719347 meters Centerline goodness : 0.907070 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99377245 -0.08730868 -0.06923518 8.82580621] [ 0.08881347 0.99586787 0.01895674 0.17601403] [ 0.067294 -0.0249877 0.99742024 -1.36433825] [ 0. 0. 0. 1. ]] SLAMing on 86.76719347 meters Centerline goodness : 0.906478 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99306758 -0.0936522 -0.07103546 8.8293839 ] [ 0.09508098 0.99532439 0.01699875 0.17512338] [ 0.06911135 -0.02363503 0.99732894 -1.36219821] [ 0. 0. 0. 1. ]] SLAMing on 86.79719347 meters Centerline goodness : 0.905762 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.36 [[ 0.99274994 -0.09571051 -0.07271215 8.83307631] [ 0.09727891 0.99508824 0.01833573 0.17300157] [ 0.07060008 -0.02527616 0.99718441 -1.36139949] [ 0. 0. 0. 1. ]] SLAMing on 86.82719347 meters Centerline goodness : 0.904535 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.99250443 -0.09748933 -0.07369388 8.83653759] [ 0.09912646 0.99489562 0.01888542 0.1704555 ] [ 0.07147659 -0.02604888 0.99710208 -1.36211073] [ 0. 0. 0. 1. ]] SLAMing on 86.85719347 meters Centerline goodness : 0.907435 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.99243479 -0.09792988 -0.0740468 8.83846642] [ 0.09971587 0.99479828 0.02081153 0.16534705] [ 0.07162356 -0.02803773 0.99703759 -1.36212916] [ 0. 0. 0. 1. ]] SLAMing on 86.88719347 meters Centerline goodness : 0.908389 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.9925659 -0.09691196 -0.07362751 8.83711094] [ 0.09875564 0.99487249 0.02181847 0.1643329 ] [ 0.07113551 -0.0289274 0.99704711 -1.36117127] [ 0. 0. 0. 1. ]] SLAMing on 86.91719347 meters Centerline goodness : 0.913599 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99268777 -0.09593965 -0.07325694 8.83548499] [ 0.09782587 0.99494688 0.02260112 0.16399324] [ 0.07071842 -0.02960228 0.99705697 -1.35986413] [ 0. 0. 0. 1. ]] SLAMing on 86.94719347 meters Centerline goodness : 0.918673 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.36 [[ 0.99296196 -0.09305337 -0.07326402 8.83308088] [ 0.09523182 0.99509383 0.0268172 0.16336825] [ 0.07040914 -0.03360552 0.99695197 -1.35664644] [ 0. 0. 0. 1. ]] SLAMing on 86.97719347 meters Centerline goodness : 0.918613 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.36 [[ 0.99298105 -0.0927538 -0.07338502 8.83330007] [ 0.09497025 0.99510554 0.02730582 0.16334593] [ 0.07049312 -0.03408356 0.9969298 -1.35642174] [ 0. 0. 0. 1. ]] SLAMing on 87.00719347 meters Centerline goodness : 0.919006 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.36 [[ 0.99292274 -0.09331945 -0.07345694 8.83390271] [ 0.09552014 0.99506041 0.02703126 0.16293484] [ 0.07057156 -0.03385657 0.99693199 -1.35668831] [ 0. 0. 0. 1. ]] SLAMing on 87.03719347 meters Centerline goodness : 0.918556 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99260693 -0.09666842 -0.07339418 8.83647423] [ 0.09864267 0.99483922 0.02376016 0.16260192] [ 0.07071855 -0.0308243 0.99701993 -1.35897888] [ 0. 0. 0. 1. ]] SLAMing on 87.06719347 meters Centerline goodness : 0.919107 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99254296 -0.09709454 -0.07369617 8.83758684] [ 0.09909975 0.99478683 0.02404984 0.16215442] [ 0.07097688 -0.03117377 0.99699071 -1.35917185] [ 0. 0. 0. 1. ]] SLAMing on 87.09719347000001 meters Centerline goodness : 0.916717 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.9924712 -0.09738472 -0.07427741 8.83865677] [ 0.09944966 0.99473799 0.02461913 0.16231673] [ 0.07148904 -0.03182065 0.99693368 -1.35867014] [ 0. 0. 0. 1. ]] SLAMing on 87.12719347 meters Centerline goodness : 0.918636 Centerline is valid? [False, False] Translation: X:8.84, Y:0.16, Z:-1.36 [[ 0.99242648 -0.09764461 -0.07453334 8.8388065 ] [ 0.09974111 0.99470092 0.02493558 0.16280624] [ 0.07170356 -0.03218077 0.99690671 -1.35789045] [ 0. 0. 0. 1. ]] SLAMing on 87.15719347 meters Centerline goodness : 0.917591 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.99234936 -0.09838876 -0.07458154 8.83924921] [ 0.10038281 0.99467208 0.02346781 0.1663035 ] [ 0.07187521 -0.03077497 0.99693874 -1.35852514] [ 0. 0. 0. 1. ]] SLAMing on 87.18719347 meters Centerline goodness : 0.916731 Centerline is valid? [False, False] Translation: X:8.84, Y:0.17, Z:-1.36 [[ 0.9923972 -0.09791277 -0.07457137 8.83896347] [ 0.09983682 0.994749 0.02251746 0.1697958 ] [ 0.07197505 -0.02979123 0.99696142 -1.35878918] [ 0. 0. 0. 1. ]] SLAMing on 87.21719347 meters Centerline goodness : 0.916242 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99332984 -0.09296554 -0.06821458 8.82947962] [ 0.09432886 0.99539529 0.01703755 0.17651865] [ 0.06631657 -0.02335851 0.99752518 -1.36009102] [ 0. 0. 0. 1. ]] SLAMing on 87.24719347 meters Centerline goodness : 0.916959 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99380263 -0.08815536 -0.06771239 8.82868766] [ 0.08965151 0.99578466 0.01937833 0.17794748] [ 0.06571865 -0.02532875 0.99751667 -1.36170695] [ 0. 0. 0. 1. ]] SLAMing on 87.27719347 meters Centerline goodness : 0.918952 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.36 [[ 0.99412368 -0.08557719 -0.06629224 8.82568324] [ 0.08696096 0.99604414 0.01827197 0.18045111] [ 0.06446634 -0.02392943 0.99763294 -1.36257924] [ 0. 0. 0. 1. ]] SLAMing on 87.30719347 meters Centerline goodness : 0.918064 Centerline is valid? [False, False] Translation: X:8.82, Y:0.18, Z:-1.36 [[ 0.99452303 -0.08089192 -0.06618485 8.82492792] [ 0.08248097 0.99635777 0.0216354 0.18182692] [ 0.06419366 -0.0269759 0.99757279 -1.36302841] [ 0. 0. 0. 1. ]] SLAMing on 87.33719347 meters Centerline goodness : 0.914919 Centerline is valid? [False, False] Translation: X:8.82, Y:0.19, Z:-1.36 [[ 0.99499774 -0.07521344 -0.06574528 8.82384845] [ 0.07694327 0.99674213 0.02418392 0.18556241] [ 0.06371213 -0.0291216 0.99754333 -1.36452246] [ 0. 0. 0. 1. ]] SLAMing on 87.36719347 meters Centerline goodness : 0.915709 Centerline is valid? [False, False] Translation: X:8.82, Y:0.19, Z:-1.37 [[ 0.99507522 -0.07466087 -0.06520022 8.82400763] [ 0.07630888 0.99681523 0.02315912 0.18594858] [ 0.06326349 -0.02802042 0.99760342 -1.36653319] [ 0. 0. 0. 1. ]] SLAMing on 87.39719347 meters Centerline goodness : 0.912670 Centerline is valid? [False, False] Translation: X:8.82, Y:0.19, Z:-1.37 [[ 0.99502491 -0.07610777 -0.06428877 8.82448331] [ 0.07750839 0.99679947 0.01957723 0.18533736] [ 0.06259303 -0.02446275 0.99773929 -1.36937297] [ 0. 0. 0. 1. ]] SLAMing on 87.42719347 meters Centerline goodness : 0.911739 Centerline is valid? [False, False] Translation: X:8.83, Y:0.18, Z:-1.37 [[ 0.99504677 -0.07590599 -0.0641889 8.82559568] [ 0.07733196 0.99680424 0.02002687 0.18266588] [ 0.06246361 -0.02489153 0.99773679 -1.37066059] [ 0. 0. 0. 1. ]] SLAMing on 87.45719347 meters Centerline goodness : 0.910038 Centerline is valid? [False, False] Translation: X:8.82, Y:0.18, Z:-1.37 [[ 0.9951072 -0.07604178 -0.06308179 8.82416983] [ 0.07746107 0.99678739 0.02036378 0.17744048] [ 0.06133064 -0.02515053 0.99780058 -1.37028559] [ 0. 0. 0. 1. ]] SLAMing on 87.48719347 meters Centerline goodness : 0.908417 Centerline is valid? [False, False] Translation: X:8.82, Y:0.17, Z:-1.37 [[ 0.9951293 -0.07574115 -0.0630948 8.82438722] [ 0.07724515 0.99677496 0.02174567 0.17417629] [ 0.06124427 -0.02651352 0.9977706 -1.36984318] [ 0. 0. 0. 1. ]] SLAMing on 87.51719347 meters Centerline goodness : 0.907421 Centerline is valid? [False, False] Translation: X:8.83, Y:0.17, Z:-1.37 [[ 0.9951696 -0.07513115 -0.06318841 8.82555768] [ 0.07675984 0.99676667 0.02375167 0.16961646] [ 0.06119961 -0.02848727 0.99771894 -1.37025 ] [ 0. 0. 0. 1. ]] SLAMing on 87.54719347 meters Centerline goodness : 0.910530 Centerline is valid? [False, False] Translation: X:8.83, Y:0.16, Z:-1.37 [[ 0.99515473 -0.07599797 -0.0623809 8.82642752] [ 0.07765404 0.99667772 0.02456373 0.15926125] [ 0.06030686 -0.02928884 0.99775009 -1.37118918] [ 0. 0. 0. 1. ]] SLAMing on 87.57719347 meters Centerline goodness : 0.907519 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99508229 -0.07719313 -0.06206808 8.82696107] [ 0.07883191 0.9965893 0.0243988 0.15463798] [ 0.05997296 -0.02917176 0.99777365 -1.37128248] [ 0. 0. 0. 1. ]] SLAMing on 87.60719347 meters Centerline goodness : 0.907765 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99486726 -0.07986253 -0.06213789 8.82838278] [ 0.08143008 0.99641102 0.02311335 0.15089279] [ 0.06006898 -0.0280546 0.99779991 -1.37147223] [ 0. 0. 0. 1. ]] SLAMing on 87.63719347 meters Centerline goodness : 0.906769 Centerline is valid? [False, False] Translation: X:8.83, Y:0.15, Z:-1.37 [[ 0.99456409 -0.08327496 -0.06251038 8.83090371] [ 0.0847578 0.99617062 0.02145241 0.14700313] [ 0.06048456 -0.02663403 0.99781373 -1.37216797] [ 0. 0. 0. 1. ]] SLAMing on 87.66719347 meters Centerline goodness : 0.903761 Centerline is valid? [False, False] Translation: X:8.84, Y:0.14, Z:-1.37 [[ 0.99410347 -0.08719916 -0.0644562 8.83669569] [ 0.08889234 0.99575495 0.02387964 0.13587856] [ 0.0621003 -0.02946849 0.99763478 -1.37366519] [ 0. 0. 0. 1. ]] SLAMing on 87.69719347 meters Centerline goodness : 0.906212 Centerline is valid? [False, False] Translation: X:8.84, Y:0.13, Z:-1.37 [[ 0.99405447 -0.08724559 -0.06514534 8.83852878] [ 0.08910975 0.99567519 0.02627475 0.13076295] [ 0.06257124 -0.03192361 0.99752981 -1.37305831] [ 0. 0. 0. 1. ]] SLAMing on 87.72719347 meters Centerline goodness : 0.905384 Centerline is valid? [False, False] Translation: X:8.84, Y:0.13, Z:-1.37 [[ 0.99404609 -0.08725978 -0.0652541 8.83884218] [ 0.08923387 0.99561789 0.02797038 0.12668348] [ 0.06252746 -0.03362672 0.9974766 -1.37210044] [ 0. 0. 0. 1. ]] SLAMing on 87.75719347 meters Centerline goodness : 0.900436 Centerline is valid? [False, False] Translation: X:8.84, Y:0.12, Z:-1.37 [[ 0.99394969 -0.08910897 -0.06421523 8.83919331] [ 0.0909467 0.99550891 0.02628147 0.12023123] [ 0.06158492 -0.03196262 0.99758994 -1.37346784] [ 0. 0. 0. 1. ]] SLAMing on 87.78719347 meters Centerline goodness : 0.900936 Centerline is valid? [False, False] Translation: X:8.84, Y:0.12, Z:-1.38 [[ 0.99378914 -0.09109126 -0.06391815 8.84123994] [ 0.09276428 0.99540581 0.02370782 0.11748377] [ 0.06146492 -0.02948989 0.9976735 -1.37596526] [ 0. 0. 0. 1. ]] SLAMing on 87.81719347 meters Centerline goodness : 0.900943 Centerline is valid? [False, False] Translation: X:8.84, Y:0.11, Z:-1.38 [[ 0.99377619 -0.09097239 -0.06428766 8.84412139] [ 0.0927024 0.99539352 0.02445429 0.11385646] [ 0.06176686 -0.03026171 0.99763174 -1.37793559] [ 0. 0. 0. 1. ]] SLAMing on 87.84719347000001 meters Centerline goodness : 0.895793 Centerline is valid? [False, False] Translation: X:8.85, Y:0.11, Z:-1.38 [[ 0.9935243 -0.0938805 -0.06399938 8.84528843] [ 0.09551524 0.99516281 0.02297415 0.10911614] [ 0.06153298 -0.02893829 0.99768546 -1.37834831] [ 0. 0. 0. 1. ]] SLAMing on 87.87719347 meters Centerline goodness : 0.894970 Centerline is valid? [False, False] Translation: X:8.85, Y:0.11, Z:-1.38 [[ 0.99346609 -0.09387797 -0.06490035 8.84751689] [ 0.09565838 0.99510309 0.02488584 0.10570625] [ 0.06224631 -0.0309315 0.9975814 -1.37809498] [ 0. 0. 0. 1. ]] SLAMing on 87.90719347 meters Centerline goodness : 0.892424 Centerline is valid? [False, False] Translation: X:8.85, Y:0.10, Z:-1.38 [[ 0.9931453 -0.0968188 -0.06548696 8.8509453 ] [ 0.09858872 0.9948303 0.02435055 0.09920843] [ 0.06279082 -0.03063991 0.99755627 -1.37885214] [ 0. 0. 0. 1. ]] SLAMing on 87.93719347 meters Centerline goodness : 0.891307 Centerline is valid? [False, False] Translation: X:8.85, Y:0.10, Z:-1.38 [[ 0.99282999 -0.10007189 -0.06537764 8.85230545] [ 0.10168581 0.99457691 0.02183516 0.09680237] [ 0.06283801 -0.02832658 0.99762167 -1.3794436 ] [ 0. 0. 0. 1. ]] SLAMing on 87.96719347 meters Centerline goodness : 0.888532 Centerline is valid? [False, False] Translation: X:8.85, Y:0.09, Z:-1.38 [[ 0.99272858 -0.10050535 -0.0662468 8.8545683 ] [ 0.10224905 0.99448193 0.02346969 0.0926826 ] [ 0.06352242 -0.03007271 0.99752721 -1.37906885] [ 0. 0. 0. 1. ]] SLAMing on 87.99719347 meters Centerline goodness : 0.890772 Centerline is valid? [False, False] Translation: X:8.85, Y:0.09, Z:-1.38 [[ 0.99240858 -0.10388039 -0.06583372 8.85473603] [ 0.10545674 0.9942036 0.02093025 0.09034278] [ 0.06327788 -0.02771397 0.99761107 -1.37876203] [ 0. 0. 0. 1. ]] SLAMing on 88.02719347 meters Centerline goodness : 0.888996 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99197147 -0.10335713 -0.07286905 8.8445358 ] [ 0.10546569 0.99409085 0.02569783 0.07932658] [ 0.06978241 -0.0331767 0.99701039 -1.37652532] [ 0. 0. 0. 1. ]] SLAMing on 88.05719347 meters Centerline goodness : 0.888755 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.38 [[ 0.99171338 -0.10569682 -0.07302571 8.84667266] [ 0.10767321 0.99390456 0.02366851 0.07773211] [ 0.0700789 -0.03133529 0.99704917 -1.3776117 ] [ 0. 0. 0. 1. ]] SLAMing on 88.08719347 meters Centerline goodness : 0.887578 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.38 [[ 0.99171883 -0.10541666 -0.07335596 8.84756073] [ 0.10748983 0.99389429 0.02490141 0.07536576] [ 0.07028305 -0.03258022 0.9969949 -1.37736765] [ 0. 0. 0. 1. ]] SLAMing on 88.11719347 meters Centerline goodness : 0.889702 Centerline is valid? [False, False] Translation: X:8.84, Y:0.07, Z:-1.38 [[ 0.99210616 -0.10221172 -0.07265075 8.84462093] [ 0.10448412 0.994127 0.02818833 0.07442066] [ 0.0693429 -0.03555667 0.99695902 -1.37559786] [ 0. 0. 0. 1. ]] SLAMing on 88.14719347 meters Centerline goodness : 0.889203 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.9925084 -0.09805338 -0.07288764 8.84422322] [ 0.1005785 0.99442041 0.03181228 0.07502266] [ 0.06936166 -0.03890489 0.99683267 -1.37544601] [ 0. 0. 0. 1. ]] SLAMing on 88.17719347 meters Centerline goodness : 0.887152 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99266557 -0.09711451 -0.07199881 8.84257259] [ 0.09951591 0.99456707 0.03054393 0.07834106] [ 0.06864139 -0.03748494 0.99693693 -1.3762873 ] [ 0. 0. 0. 1. ]] SLAMing on 88.20719347 meters Centerline goodness : 0.887290 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99305619 -0.09296783 -0.07208594 8.84306697] [ 0.09555361 0.99486762 0.0332856 0.07976963] [ 0.06862147 -0.03994255 0.99684286 -1.37783705] [ 0. 0. 0. 1. ]] SLAMing on 88.23719347 meters Centerline goodness : 0.883056 Centerline is valid? [False, False] Translation: X:8.84, Y:0.08, Z:-1.38 [[ 0.99367801 -0.08423398 -0.07422032 8.83654636] [ 0.08590223 0.99611129 0.01957332 0.08478089] [ 0.07228296 -0.02582527 0.99704976 -1.37898092] [ 0. 0. 0. 1. ]] SLAMing on 88.26719347 meters Centerline goodness : 0.884199 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.38 [[ 0.99392972 -0.0813686 -0.07404641 8.8383415 ] [ 0.08304185 0.99634932 0.01980128 0.08756709] [ 0.07216488 -0.02583003 0.99705819 -1.38266309] [ 0. 0. 0. 1. ]] SLAMing on 88.29719347 meters Centerline goodness : 0.883745 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.38 [[ 0.99421821 -0.07742811 -0.07439781 8.83983211] [ 0.07929381 0.99659834 0.02245517 0.08963717] [ 0.07240607 -0.02822463 0.99697579 -1.3848332 ] [ 0. 0. 0. 1. ]] SLAMing on 88.32719347 meters Centerline goodness : 0.881535 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99427935 -0.07694533 -0.074081 8.84000495] [ 0.07869859 0.99667636 0.02104182 0.09300396] [ 0.07221571 -0.02675152 0.99703021 -1.38661889] [ 0. 0. 0. 1. ]] SLAMing on 88.35719347 meters Centerline goodness : 0.879800 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99427084 -0.07701937 -0.07411824 8.84118795] [ 0.07872285 0.99668904 0.02033881 0.09429528] [ 0.07230635 -0.02605709 0.99704203 -1.38821331] [ 0. 0. 0. 1. ]] SLAMing on 88.38719347 meters Centerline goodness : 0.877364 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99402496 -0.0806949 -0.07350316 8.84105944] [ 0.08209625 0.99649204 0.01624271 0.09475994] [ 0.07193461 -0.02217999 0.9971627 -1.38889886] [ 0. 0. 0. 1. ]] SLAMing on 88.41719347 meters Centerline goodness : 0.878629 Centerline is valid? [False, False] Translation: X:8.84, Y:0.09, Z:-1.39 [[ 0.99400193 -0.08044337 -0.07408793 8.84314246] [ 0.08196825 0.99647648 0.01777174 0.0912514 ] [ 0.07239726 -0.02373801 0.99709335 -1.389357 ] [ 0. 0. 0. 1. ]] SLAMing on 88.44719347 meters Centerline goodness : 0.876130 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.39 [[ 0.9938143 -0.08288025 -0.07391893 8.8471225 ] [ 0.08429397 0.99630907 0.01620982 0.08356972] [ 0.07230262 -0.02234047 0.99713251 -1.39277059] [ 0. 0. 0. 1. ]] SLAMing on 88.47719347 meters Centerline goodness : 0.875154 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.39 [[ 0.99359656 -0.08606935 -0.07319798 8.84779667] [ 0.08724729 0.99610128 0.0130444 0.08060202] [ 0.07178988 -0.01934719 0.99723212 -1.39431565] [ 0. 0. 0. 1. ]] SLAMing on 88.50719347 meters Centerline goodness : 0.874762 Centerline is valid? [False, False] Translation: X:8.85, Y:0.08, Z:-1.40 [[ 0.99363729 -0.08522657 -0.0736299 8.85014586] [ 0.08658356 0.99612505 0.01543302 0.07514743] [ 0.07202929 -0.02170996 0.99716621 -1.39526798] [ 0. 0. 0. 1. ]] SLAMing on 88.53719347 meters Centerline goodness : 0.876180 Centerline is valid? [False, False] Translation: X:8.85, Y:0.07, Z:-1.39 [[ 0.99361498 -0.08526066 -0.07389101 8.85101485] [ 0.08674831 0.99608251 0.01715728 0.07053667] [ 0.0721387 -0.02345765 0.99711872 -1.39469016] [ 0. 0. 0. 1. ]] SLAMing on 88.56719347 meters Centerline goodness : 0.875593 Centerline is valid? [False, False] Translation: X:8.85, Y:0.06, Z:-1.39 [[ 0.99330167 -0.08863749 -0.07412949 8.85201149] [ 0.09020023 0.99576099 0.01799941 0.06165066] [ 0.07221984 -0.02456534 0.99708617 -1.39246681] [ 0. 0. 0. 1. ]] SLAMing on 88.59719347000001 meters Centerline goodness : 0.875593 Centerline is valid? [False, False] Translation: X:8.85, Y:0.06, Z:-1.39 [[ 0.99330167 -0.08863749 -0.07412949 8.85201149] [ 0.09020023 0.99576099 0.01799941 0.06165066] [ 0.07221984 -0.02456534 0.99708617 -1.39246681] [ 0. 0. 0. 1. ]] SLAMing on 88.62719347 meters Centerline goodness : 0.877622 Centerline is valid? [False, False] Translation: X:8.85, Y:0.06, Z:-1.39 [[ 0.99293507 -0.09252387 -0.0742919 8.85311441] [ 0.09396998 0.99544315 0.01620412 0.05735473] [ 0.0724541 -0.02307084 0.99710488 -1.39154867] [ 0. 0. 0. 1. ]] SLAMing on 88.65719347 meters Centerline goodness : 0.874497 Centerline is valid? [False, False] Translation: X:8.85, Y:0.05, Z:-1.39 [[ 0.99250329 -0.09665039 -0.07480586 8.85486093] [ 0.09800164 0.99507915 0.01459993 0.05251451] [ 0.07302666 -0.02182158 0.99709123 -1.39041164] [ 0. 0. 0. 1. ]] SLAMing on 88.68719347 meters Centerline goodness : 0.876592 Centerline is valid? [False, False] Translation: X:8.86, Y:0.04, Z:-1.39 [[ 9.91257123e-01 -1.08869079e-01 -7.45442110e-02 8.85819142e+00] [ 1.09614557e-01 9.93956234e-01 5.97110577e-03 4.42849656e-02] [ 7.34436144e-02 -1.40900318e-02 9.97199833e-01 -1.39087497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71719347 meters Centerline goodness : 0.877090 Centerline is valid? [False, False] Translation: X:8.86, Y:0.04, Z:-1.39 [[ 9.90776776e-01 -1.13042514e-01 -7.47179406e-02 8.86055552e+00] [ 1.13621264e-01 9.93517874e-01 3.52728076e-03 4.01152563e-02] [ 7.38348768e-02 -1.19842947e-02 9.97198470e-01 -1.39156825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74719347 meters Centerline goodness : 0.880088 Centerline is valid? [False, False] Translation: X:8.86, Y:0.04, Z:-1.39 [[ 9.90611003e-01 -1.13886229e-01 -7.56291388e-02 8.86293877e+00] [ 1.14567961e-01 9.93404183e-01 4.72339937e-03 3.62052227e-02] [ 7.45923728e-02 -1.33437276e-02 9.97124828e-01 -1.39140744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77719347 meters Centerline goodness : 0.882226 Centerline is valid? [False, False] Translation: X:8.86, Y:0.03, Z:-1.39 [[ 9.90434239e-01 -1.15002644e-01 -7.62522754e-02 8.86415878e+00] [ 1.15740213e-01 9.93265323e-01 5.31040920e-03 3.43745804e-02] [ 7.51280299e-02 -1.40850657e-02 9.97074416e-01 -1.39060924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80719347 meters Centerline goodness : 0.880659 Centerline is valid? [False, False] Translation: X:8.86, Y:0.03, Z:-1.39 [[ 0.99083535 -0.11089676 -0.07711825 8.86498355] [ 0.11200138 0.99365636 0.01013583 0.03221496] [ 0.07550501 -0.01868028 0.99697043 -1.39015432] [ 0. 0. 0. 1. ]] SLAMing on 88.83719347 meters Centerline goodness : 0.879709 Centerline is valid? [False, False] Translation: X:8.87, Y:0.03, Z:-1.39 [[ 0.99123335 -0.1068142 -0.07776355 8.86594379] [ 0.10823008 0.99402425 0.01421441 0.03106704] [ 0.07578055 -0.02250615 0.99687049 -1.39056562] [ 0. 0. 0. 1. ]] SLAMing on 88.86719347 meters Centerline goodness : 0.879652 Centerline is valid? [False, False] Translation: X:8.87, Y:0.03, Z:-1.39 [[ 0.9913655 -0.1057579 -0.0775223 8.86631798] [ 0.10712753 0.99415068 0.01371537 0.03281651] [ 0.07561834 -0.02190172 0.99689627 -1.39216931] [ 0. 0. 0. 1. ]] SLAMing on 88.89719347 meters Centerline goodness : 0.882726 Centerline is valid? [False, False] Translation: X:8.87, Y:0.04, Z:-1.39 [[ 0.99226872 -0.0967219 -0.0777667 8.8660066 ] [ 0.09853852 0.99493498 0.01986312 0.03694024] [ 0.07545161 -0.02737256 0.99677369 -1.39400756] [ 0. 0. 0. 1. ]] SLAMing on 88.92719347 meters Centerline goodness : 0.883390 Centerline is valid? [False, False] Translation: X:8.87, Y:0.04, Z:-1.39 [[ 0.99304883 -0.09066623 -0.07505774 8.8700732 ] [ 0.09187214 0.99568898 0.01276559 0.04265984] [ 0.07357675 -0.01957257 0.99709748 -1.39213399] [ 0. 0. 0. 1. ]] SLAMing on 88.95719347 meters Centerline goodness : 0.888439 Centerline is valid? [False, False] Translation: X:8.87, Y:0.04, Z:-1.39 [[ 0.99344096 -0.08619498 -0.07513639 8.86862253] [ 0.0876478 0.99601895 0.01625157 0.04439357] [ 0.07343646 -0.02273051 0.99704083 -1.3911684 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98719347 meters Centerline goodness : 0.889829 Centerline is valid? [False, False] Translation: X:8.86, Y:0.05, Z:-1.39 [[ 0.99364708 -0.08545663 -0.07323013 8.8639295 ] [ 0.0867383 0.99612563 0.01449841 0.04797118] [ 0.07170742 -0.02075816 0.99720968 -1.38997666] [ 0. 0. 0. 1. ]] SLAMing on 89.01719347 meters Centerline goodness : 0.890714 Centerline is valid? [False, False] Translation: X:8.87, Y:0.05, Z:-1.39 [[ 0.99385148 -0.08172808 -0.07469773 8.86614819] [ 0.08341512 0.99631923 0.01974603 0.04642333] [ 0.07280898 -0.02585554 0.9970107 -1.38940156] [ 0. 0. 0. 1. ]] SLAMing on 89.04719347 meters Centerline goodness : 0.892170 Centerline is valid? [False, False] Translation: X:8.87, Y:0.05, Z:-1.39 [[ 0.99377271 -0.08216977 -0.07525912 8.86801464] [ 0.08380756 0.9963034 0.01886335 0.04801453] [ 0.07343092 -0.02505316 0.99698558 -1.39060336] [ 0. 0. 0. 1. ]] SLAMing on 89.07719347 meters Centerline goodness : 0.887760 Centerline is valid? [False, False] Translation: X:8.87, Y:0.05, Z:-1.39 [[ 0.99363266 -0.08258712 -0.07663885 8.87381169] [ 0.08424231 0.99627138 0.01861631 0.04807155] [ 0.07481563 -0.02495401 0.99688511 -1.39445687] [ 0. 0. 0. 1. ]] SLAMing on 89.10719347 meters Centerline goodness : 0.888286 Centerline is valid? [False, False] Translation: X:8.88, Y:0.05, Z:-1.40 [[ 0.99340156 -0.0849527 -0.07704795 8.87645685] [ 0.08641862 0.99613219 0.01588978 0.04774472] [ 0.07540006 -0.02244331 0.99690076 -1.39614851] [ 0. 0. 0. 1. ]] SLAMing on 89.13719347 meters Centerline goodness : 0.888938 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99336109 -0.08490762 -0.07761722 8.87805141] [ 0.0864936 0.9961022 0.01729908 0.044448 ] [ 0.07584586 -0.02389763 0.99683314 -1.39608656] [ 0. 0. 0. 1. ]] SLAMing on 89.16719347 meters Centerline goodness : 0.891114 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99302704 -0.08840216 -0.0779895 8.88058233] [ 0.08986115 0.99583533 0.01539377 0.03980744] [ 0.07630386 -0.02229465 0.99683533 -1.39678306] [ 0. 0. 0. 1. ]] SLAMing on 89.19719347 meters Centerline goodness : 0.891978 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99293778 -0.08854578 -0.07895703 8.88280583] [ 0.09009289 0.99580087 0.01624524 0.03848739] [ 0.07718703 -0.02324398 0.99674564 -1.39678992] [ 0. 0. 0. 1. ]] SLAMing on 89.22719347 meters Centerline goodness : 0.897032 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99286412 -0.08881069 -0.07958325 8.8840581 ] [ 0.09038218 0.99577278 0.0163596 0.0386319 ] [ 0.07779392 -0.02343576 0.99669397 -1.39663952] [ 0. 0. 0. 1. ]] SLAMing on 89.25719347 meters Centerline goodness : 0.894610 Centerline is valid? [False, False] Translation: X:8.88, Y:0.04, Z:-1.40 [[ 0.99252138 -0.09220913 -0.07999246 8.88498163] [ 0.093561 0.99552455 0.01331169 0.03945307] [ 0.07840699 -0.02069631 0.99670658 -1.39599144] [ 0. 0. 0. 1. ]] SLAMing on 89.28719347 meters Centerline goodness : 0.891356 Centerline is valid? [False, False] Translation: X:8.89, Y:0.04, Z:-1.40 [[ 0.99243616 -0.09238354 -0.08084396 8.8871105 ] [ 0.09385233 0.99547976 0.0145527 0.03608131] [ 0.07913409 -0.02203002 0.99662053 -1.39594067] [ 0. 0. 0. 1. ]] SLAMing on 89.31719347 meters Centerline goodness : 0.898835 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 0.99207426 -0.0961965 -0.08083869 8.88845066] [ 0.09742977 0.99517661 0.01144328 0.03371902] [ 0.07934797 -0.01922868 0.99666151 -1.39636671] [ 0. 0. 0. 1. ]] SLAMing on 89.34719347000001 meters Centerline goodness : 0.902452 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 9.91695185e-01 -9.97590233e-02 -8.11714013e-02 8.89080276e+00] [ 1.00788081e-01 9.94870136e-01 8.67031479e-03 3.13472024e-02] [ 7.98900610e-02 -1.67794192e-02 9.96662445e-01 -1.39716751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37719347 meters Centerline goodness : 0.899748 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 9.91126561e-01 -1.04966422e-01 -8.15487041e-02 8.89240430e+00] [ 1.05738227e-01 9.94380445e-01 5.19208932e-03 2.96949900e-02] [ 8.05454416e-02 -1.37688330e-02 9.96655834e-01 -1.39671507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40719347 meters Centerline goodness : 0.898387 Centerline is valid? [False, False] Translation: X:8.89, Y:0.03, Z:-1.40 [[ 9.91002208e-01 -1.05488967e-01 -8.23814443e-02 8.89425241e+00] [ 1.06279231e-01 9.94322438e-01 5.25489885e-03 2.97286061e-02] [ 8.13593847e-02 -1.39630529e-02 9.96587018e-01 -1.39676768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43719347 meters Centerline goodness : 0.900402 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 9.90948061e-01 -1.05608291e-01 -8.28783987e-02 8.89564938e+00] [ 1.06388273e-01 9.94311892e-01 5.03960297e-03 3.08691060e-02] [ 8.18747535e-02 -1.38112745e-02 9.96546925e-01 -1.39733042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46719347 meters Centerline goodness : 0.905034 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99131079 -0.10073391 -0.08459082 8.8991692 ] [ 0.10185651 0.99475793 0.00905059 0.03212896] [ 0.08323568 -0.01758807 0.99637467 -1.39888657] [ 0. 0. 0. 1. ]] SLAMing on 89.49719347 meters Centerline goodness : 0.903194 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99168142 -0.09640232 -0.08529104 8.90069771] [ 0.09783674 0.99512027 0.01279123 0.03192458] [ 0.08364173 -0.02102942 0.99627397 -1.40001137] [ 0. 0. 0. 1. ]] SLAMing on 89.52719347 meters Centerline goodness : 0.905049 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99185885 -0.09435483 -0.08551718 8.90202492] [ 0.09582586 0.99530987 0.01325387 0.03277714] [ 0.08386553 -0.02134072 0.99624854 -1.40160632] [ 0. 0. 0. 1. ]] SLAMing on 89.55719347 meters Centerline goodness : 0.907817 Centerline is valid? [False, False] Translation: X:8.90, Y:0.03, Z:-1.40 [[ 0.99199667 -0.09301256 -0.08538897 8.90162476] [ 0.09447758 0.99543854 0.01327048 0.03402161] [ 0.08376515 -0.02123161 0.99625931 -1.40187368] [ 0. 0. 0. 1. ]] SLAMing on 89.58719347 meters Centerline goodness : 0.906101 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.40 [[ 0.99241436 -0.08799601 -0.08585129 8.9013262 ] [ 0.08975129 0.99582255 0.01679719 0.03789478] [ 0.08401456 -0.02437504 0.99616636 -1.40183541] [ 0. 0. 0. 1. ]] SLAMing on 89.61719347 meters Centerline goodness : 0.907543 Centerline is valid? [False, False] Translation: X:8.90, Y:0.04, Z:-1.40 [[ 0.99239835 -0.08717546 -0.08686749 8.90385363] [ 0.0890024 0.99587981 0.01737766 0.03978022] [ 0.08499467 -0.02497698 0.9960683 -1.40259793] [ 0. 0. 0. 1. ]] SLAMing on 89.64719347 meters Centerline goodness : 0.904247 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:-1.40 [[ 0.99230289 -0.08753365 -0.08759471 8.90552981] [ 0.08938995 0.99584311 0.01749115 0.03972693] [ 0.08569953 -0.0251866 0.99600262 -1.40262071] [ 0. 0. 0. 1. ]] SLAMing on 89.67719347 meters Centerline goodness : 0.902459 Centerline is valid? [False, False] Translation: X:8.91, Y:0.04, Z:-1.40 [[ 0.99187987 -0.09177937 -0.08803903 8.90693839] [ 0.09344968 0.9955105 0.01503346 0.03546264] [ 0.08626401 -0.02313861 0.99600358 -1.40156738] [ 0. 0. 0. 1. ]] SLAMing on 89.70719347 meters Centerline goodness : 0.901941 Centerline is valid? [False, False] Translation: X:8.91, Y:0.03, Z:-1.40 [[ 0.99181693 -0.09176257 -0.08876268 8.90827485] [ 0.09359285 0.99547093 0.01667376 0.03148371] [ 0.08683064 -0.02484487 0.99591324 -1.40058357] [ 0. 0. 0. 1. ]] SLAMing on 89.73719347 meters Centerline goodness : 0.907171 Centerline is valid? [False, False] Translation: X:8.91, Y:0.03, Z:-1.40 [[ 0.99177177 -0.09202694 -0.08899323 8.9089879 ] [ 0.09393265 0.99542544 0.01745973 0.02816331] [ 0.08697936 -0.02567544 0.99587919 -1.40017553] [ 0. 0. 0. 1. ]] SLAMing on 89.76719347 meters Centerline goodness : 0.904568 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99181226 -0.09133778 -0.08925167 8.9095035 ] [ 0.09338421 0.99544846 0.01901978 0.02457509] [ 0.08710821 -0.02719874 0.99582749 -1.39960405] [ 0. 0. 0. 1. ]] SLAMing on 89.79719347 meters Centerline goodness : 0.905461 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99180518 -0.09134728 -0.08932049 8.90924804] [ 0.09339158 0.99544865 0.01897357 0.0249581 ] [ 0.08718078 -0.02715987 0.9958222 -1.3990956 ] [ 0. 0. 0. 1. ]] SLAMing on 89.82719347 meters Centerline goodness : 0.900086 Centerline is valid? [False, False] Translation: X:8.91, Y:0.03, Z:-1.40 [[ 0.99181974 -0.09088429 -0.08963064 8.90979066] [ 0.09299034 0.99547409 0.01959934 0.02500621] [ 0.08744371 -0.0277738 0.99578221 -1.39888629] [ 0. 0. 0. 1. ]] SLAMing on 89.85719347 meters Centerline goodness : 0.900531 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99173106 -0.09131024 -0.09017726 8.91096791] [ 0.09343072 0.99543341 0.01957123 0.02468294] [ 0.08797841 -0.02783473 0.99573341 -1.39870627] [ 0. 0. 0. 1. ]] SLAMing on 89.88719347 meters Centerline goodness : 0.895789 Centerline is valid? [False, False] Translation: X:8.91, Y:0.02, Z:-1.40 [[ 0.99162167 -0.09190833 -0.09077067 8.91266625] [ 0.09406339 0.99537035 0.01974723 0.02303914] [ 0.08853549 -0.02811998 0.99567602 -1.39884376] [ 0. 0. 0. 1. ]] SLAMing on 89.91719347 meters Centerline goodness : 0.894116 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.99095303 -0.09887023 -0.09075668 8.91575367] [ 0.10047288 0.99485154 0.01325196 0.02074994] [ 0.08897919 -0.02225065 0.99578492 -1.40059998] [ 0. 0. 0. 1. ]] SLAMing on 89.94719347 meters Centerline goodness : 0.894073 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.9908673 -0.0990979 -0.09144178 8.9171298 ] [ 0.10077398 0.99481243 0.01388665 0.01950935] [ 0.08959128 -0.02297478 0.99571359 -1.40020502] [ 0. 0. 0. 1. ]] SLAMing on 89.97719347 meters Centerline goodness : 0.890867 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.99075504 -0.09989162 -0.09179389 8.91779821] [ 0.10152102 0.99474523 0.01324439 0.02044178] [ 0.08998853 -0.02244096 0.99568995 -1.40004297] [ 0. 0. 0. 1. ]] SLAMing on 90.00719347 meters Centerline goodness : 0.889934 Centerline is valid? [False, False] Translation: X:8.92, Y:0.02, Z:-1.40 [[ 0.99047991 -0.10113882 -0.09338351 8.92284949] [ 0.10267914 0.99464421 0.01182733 0.02367604] [ 0.09168717 -0.02130328 0.99555996 -1.40232151] [ 0. 0. 0. 1. ]] SLAMing on 90.03719347 meters Centerline goodness : 0.887250 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:-1.40 [[ 0.99034902 -0.10177523 -0.09407769 8.92505704] [ 0.1033043 0.99458313 0.01151579 0.02384616] [ 0.09239606 -0.02112328 0.99549825 -1.40317714] [ 0. 0. 0. 1. ]] SLAMing on 90.06719347 meters Centerline goodness : 0.887363 Centerline is valid? [False, False] Translation: X:8.93, Y:0.02, Z:-1.41 [[ 9.90036538e-01 -1.04269206e-01 -9.46339569e-02 8.92852009e+00] [ 1.05561313e-01 9.94374403e-01 8.73816623e-03 2.48744436e-02] [ 9.31904627e-02 -1.86407886e-02 9.95473786e-01 -1.40527983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09719347000001 meters Centerline goodness : 0.883337 Centerline is valid? [False, False] Translation: X:8.93, Y:0.03, Z:-1.41 [[ 9.89854479e-01 -1.05491581e-01 -9.51821264e-02 8.93049731e+00] [ 1.06714829e-01 9.94258759e-01 7.83994250e-03 2.54262496e-02] [ 9.38086150e-02 -1.79177465e-02 9.95429002e-01 -1.40617337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12719347 meters Centerline goodness : 0.880678 Centerline is valid? [False, False] Translation: X:8.93, Y:0.03, Z:-1.41 [[ 9.89813096e-01 -1.05682967e-01 -9.53999242e-02 8.93025061e+00] [ 1.06887514e-01 9.94242140e-01 7.59121877e-03 2.67320876e-02] [ 9.40483623e-02 -1.77109485e-02 9.95410080e-01 -1.40531167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15719347 meters Centerline goodness : 0.881572 Centerline is valid? [False, False] Translation: X:8.94, Y:0.03, Z:-1.40 [[ 9.90257416e-01 -1.06275886e-01 -8.99760288e-02 8.94419845e+00] [ 1.07358499e-01 9.94193827e-01 7.26548921e-03 3.10874616e-02] [ 8.86814661e-02 -1.68543959e-02 9.95917430e-01 -1.40367007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18719347 meters Centerline goodness : 0.880820 Centerline is valid? [False, False] Translation: X:8.94, Y:0.03, Z:-1.40 [[ 9.90137739e-01 -1.07428875e-01 -8.99238251e-02 8.94239413e+00] [ 1.08372131e-01 9.94094288e-01 5.65930590e-03 3.48118068e-02] [ 8.87847880e-02 -1.53487289e-02 9.95932567e-01 -1.40181776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21719347 meters Centerline goodness : 0.877337 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.40 [[ 9.90267149e-01 -1.05093494e-01 -9.12487318e-02 8.94297804e+00] [ 1.06333631e-01 9.94291357e-01 8.82367280e-03 3.63897997e-02] [ 8.98005147e-02 -1.84406023e-02 9.95789040e-01 -1.39999585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24719347 meters Centerline goodness : 0.878517 Centerline is valid? [False, False] Translation: X:8.94, Y:0.04, Z:-1.40 [[ 9.90151267e-01 -1.05660988e-01 -9.18489245e-02 8.94465274e+00] [ 1.06877976e-01 9.94236493e-01 8.41984347e-03 3.67881976e-02] [ 9.04299036e-02 -1.81535458e-02 9.95737356e-01 -1.40043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27719347 meters Centerline goodness : 0.874760 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:-1.40 [[ 9.90036340e-01 -1.06428743e-01 -9.22006917e-02 8.94606329e+00] [ 1.07601792e-01 9.94163221e-01 7.83228878e-03 3.72236159e-02] [ 9.08289559e-02 -1.76752102e-02 9.95709640e-01 -1.40106956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30719347 meters Centerline goodness : 0.875412 Centerline is valid? [False, False] Translation: X:8.95, Y:0.04, Z:-1.40 [[ 9.89767948e-01 -1.08293596e-01 -9.29080484e-02 8.94774333e+00] [ 1.09307108e-01 9.93990663e-01 5.87514539e-03 4.16667906e-02] [ 9.17134921e-02 -1.59705407e-02 9.95657359e-01 -1.40148046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33719347 meters Centerline goodness : 0.870537 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89621506e-01 -1.09151352e-01 -9.34625999e-02 8.94891320e+00] [ 1.10052186e-01 9.93915516e-01 4.52360323e-03 4.54054270e-02] [ 9.24001708e-02 -1.47624185e-02 9.95612515e-01 -1.40177771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36719347 meters Centerline goodness : 0.867894 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89739194e-01 -1.06909053e-01 -9.47986375e-02 8.95109442e+00] [ 1.08084971e-01 9.94114542e-01 7.34280205e-03 4.64078702e-02] [ 9.34556921e-02 -1.75137670e-02 9.95469388e-01 -1.40178135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39719347 meters Centerline goodness : 0.865255 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89569000e-01 -1.08159551e-01 -9.51562225e-02 8.95123858e+00] [ 1.09221146e-01 9.93999341e-01 6.00421259e-03 4.86285830e-02] [ 9.39358095e-02 -1.63346544e-02 9.95444244e-01 -1.40102491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42719347 meters Centerline goodness : 0.859480 Centerline is valid? [False, False] Translation: X:8.95, Y:0.05, Z:-1.40 [[ 9.89209472e-01 -1.10923762e-01 -9.57107046e-02 8.95068914e+00] [ 1.11699723e-01 9.93738140e-01 2.77137776e-03 5.48366593e-02] [ 9.48039659e-02 -1.34323323e-02 9.95405335e-01 -1.39918491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45719347 meters Centerline goodness : 0.858882 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.40 [[ 9.89275271e-01 -1.09184752e-01 -9.70212772e-02 8.95217609e+00] [ 1.10185474e-01 9.93898461e-01 5.00104821e-03 5.74546249e-02] [ 9.58832599e-02 -1.56377488e-02 9.95269743e-01 -1.39850711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48719347 meters Centerline goodness : 0.858882 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.40 [[ 9.89275271e-01 -1.09184752e-01 -9.70212772e-02 8.95217609e+00] [ 1.10185474e-01 9.93898461e-01 5.00104821e-03 5.74546249e-02] [ 9.58832599e-02 -1.56377488e-02 9.95269743e-01 -1.39850711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51719347 meters Centerline goodness : 0.861078 Centerline is valid? [False, False] Translation: X:8.95, Y:0.06, Z:-1.40 [[ 9.89299839e-01 -1.07656452e-01 -9.84678507e-02 8.95374213e+00] [ 1.08895749e-01 9.94026493e-01 7.28340777e-03 6.00564444e-02] [ 9.70955465e-02 -1.79282044e-02 9.95113579e-01 -1.39753411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54719347 meters Centerline goodness : 0.854543 Centerline is valid? [False, False] Translation: X:8.95, Y:0.07, Z:-1.40 [[ 9.88846440e-01 -1.11342758e-01 -9.89217251e-02 8.95276766e+00] [ 1.12169972e-01 9.93685025e-01 2.82290910e-03 7.04182621e-02] [ 9.79827263e-02 -1.38874708e-02 9.95091214e-01 -1.39572808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57719347 meters Centerline goodness : 0.853971 Centerline is valid? [False, False] Translation: X:8.95, Y:0.08, Z:-1.40 [[ 9.88687779e-01 -1.12555402e-01 -9.91350457e-02 8.95283462e+00] [ 1.13183560e-01 9.93573836e-01 7.17203910e-04 7.56459255e-02] [ 9.84172625e-02 -1.19295481e-02 9.95073730e-01 -1.39561531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60719347 meters Centerline goodness : 0.857116 Centerline is valid? [False, False] Translation: X:8.95, Y:0.08, Z:-1.40 [[ 9.88757374e-01 -1.10808458e-01 -1.00400899e-01 8.95496831e+00] [ 1.11599659e-01 9.93750629e-01 2.28095982e-03 7.96795226e-02] [ 9.95207070e-02 -1.34600219e-02 9.94944449e-01 -1.39603098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63719347 meters Centerline goodness : 0.855301 Centerline is valid? [False, False] Translation: X:8.96, Y:0.08, Z:-1.40 [[ 9.88924664e-01 -1.08200170e-01 -1.01591009e-01 8.95651648e+00] [ 1.09213826e-01 9.94008306e-01 4.45293974e-03 8.41743292e-02] [ 1.00500498e-01 -1.54987647e-02 9.94816284e-01 -1.39618352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66719347 meters Centerline goodness : 0.855297 Centerline is valid? [False, False] Translation: X:8.96, Y:0.10, Z:-1.40 [[ 9.89241113e-01 -1.04064927e-01 -1.02822720e-01 8.95659276e+00] [ 1.05247556e-01 9.94427164e-01 6.12918248e-03 9.86060710e-02] [ 1.01611873e-01 -1.68850793e-02 9.94680814e-01 -1.39637125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69719347 meters Centerline goodness : 0.856545 Centerline is valid? [False, False] Translation: X:8.96, Y:0.10, Z:-1.40 [[ 9.89486552e-01 -1.00834790e-01 -1.03675984e-01 8.95775367e+00] [ 1.02169313e-01 9.94737766e-01 7.62941708e-03 1.04383095e-01] [ 1.02361106e-01 -1.81417096e-02 9.94581863e-01 -1.39718475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72719347 meters Centerline goodness : 0.854948 Centerline is valid? [False, False] Translation: X:8.96, Y:0.11, Z:-1.40 [[ 9.89743660e-01 -9.79268410e-02 -1.04008757e-01 8.95759800e+00] [ 9.93516506e-02 9.95015263e-01 8.59509125e-03 1.09845408e-01] [ 1.02648611e-01 -1.88403788e-02 9.94539241e-01 -1.39759967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75719347 meters Centerline goodness : 0.852950 Centerline is valid? [False, False] Translation: X:8.96, Y:0.12, Z:-1.40 [[ 0.99001558 -0.09470875 -0.10440019 8.95765613] [ 0.09625582 0.99530769 0.00986988 0.11552475] [ 0.10297555 -0.01982046 0.99448639 -1.39819112] [ 0. 0. 0. 1. ]] SLAMing on 90.78719347 meters Centerline goodness : 0.848656 Centerline is valid? [False, False] Translation: X:8.96, Y:0.13, Z:-1.40 [[ 0.99049293 -0.0873509 -0.10627124 8.95990121] [ 0.08928766 0.99591308 0.01359629 0.12939934] [ 0.10464927 -0.02295574 0.99424422 -1.39970394] [ 0. 0. 0. 1. ]] SLAMing on 90.81719347 meters Centerline goodness : 0.850480 Centerline is valid? [False, False] Translation: X:8.97, Y:0.14, Z:-1.40 [[ 0.99140218 -0.08762943 -0.09717408 8.96820296] [ 0.08911218 0.99596067 0.01101674 0.14026394] [ 0.09581618 -0.01958141 0.99520643 -1.40333802] [ 0. 0. 0. 1. ]] SLAMing on 90.84719347000001 meters Centerline goodness : 0.850788 Centerline is valid? [False, False] Translation: X:8.97, Y:0.15, Z:-1.40 [[ 0.99187628 -0.0808125 -0.09823842 8.96863622] [ 0.08256075 0.9964897 0.01385638 0.15224236] [ 0.09677381 -0.02185446 0.99506644 -1.40419724] [ 0. 0. 0. 1. ]] SLAMing on 90.87719347 meters Centerline goodness : 0.851048 Centerline is valid? [False, False] Translation: X:8.97, Y:0.16, Z:-1.41 [[ 0.99272568 -0.08308348 -0.08713706 8.97394967] [ 0.08422344 0.99640178 0.00948213 0.16122355] [ 0.08603572 -0.01675214 0.9961512 -1.40855556] [ 0. 0. 0. 1. ]] SLAMing on 90.90719347 meters Centerline goodness : 0.849674 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.41 [[ 9.93407613e-01 -8.55295927e-02 -7.63282601e-02 8.97999361e+00] [ 8.61265112e-02 9.96273786e-01 4.55716900e-03 1.70139457e-01] [ 7.56540718e-02 -1.11010131e-02 9.97072329e-01 -1.41308358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93719347 meters Centerline goodness : 0.847217 Centerline is valid? [False, False] Translation: X:8.98, Y:0.17, Z:-1.41 [[ 9.93628962e-01 -8.24129846e-02 -7.68738281e-02 8.98062649e+00] [ 8.31467578e-02 9.96516836e-01 6.38839032e-03 1.74155203e-01] [ 7.60795776e-02 -1.27394992e-02 9.97020362e-01 -1.41378812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96719347 meters Centerline goodness : 0.847325 Centerline is valid? [False, False] Translation: X:8.98, Y:0.18, Z:-1.41 [[ 9.93854572e-01 -7.90950519e-02 -7.74407060e-02 8.98117707e+00] [ 7.99712080e-02 9.96762834e-01 8.27397643e-03 1.78547937e-01] [ 7.65355870e-02 -1.44161561e-02 9.96962626e-01 -1.41436859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99719347 meters Centerline goodness : 0.848658 Centerline is valid? [False, False] Translation: X:8.97, Y:0.19, Z:-1.41 [[ 9.94522557e-01 -7.33369015e-02 -7.44753762e-02 8.97482774e+00] [ 7.39742304e-02 9.97243102e-01 5.83174862e-03 1.90191419e-01] [ 7.38423728e-02 -1.13090642e-02 9.97205801e-01 -1.41290880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02719347 meters Centerline goodness : 0.846401 Centerline is valid? [False, False] Translation: X:8.97, Y:0.19, Z:-1.41 [[ 9.94817148e-01 -6.90690773e-02 -7.46210673e-02 8.97419911e+00] [ 6.98663100e-02 9.97523286e-01 8.12358180e-03 1.94168037e-01] [ 7.38751640e-02 -1.32949771e-02 9.97178872e-01 -1.41308545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05719347 meters Centerline goodness : 0.847773 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.42 [[ 9.95510444e-01 -7.11014428e-02 -6.24783245e-02 8.97720397e+00] [ 7.14363498e-02 9.97440217e-01 3.14019002e-03 2.01879316e-01] [ 6.20951215e-02 -7.58931541e-03 9.98041381e-01 -1.41753054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08719347 meters Centerline goodness : 0.848319 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.42 [[ 9.96023643e-01 -6.52232091e-02 -6.06863750e-02 8.97506160e+00] [ 6.55621913e-02 9.97841957e-01 3.60934298e-03 2.04756431e-01] [ 6.03199983e-02 -7.57372267e-03 9.98150358e-01 -1.42110095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11719347 meters Centerline goodness : 0.850188 Centerline is valid? [False, False] Translation: X:8.97, Y:0.21, Z:-1.42 [[ 9.96148986e-01 -6.40017339e-02 -5.99247448e-02 8.97352274e+00] [ 6.43136902e-02 9.97924309e-01 3.28964533e-03 2.05716504e-01] [ 5.95898166e-02 -7.13095834e-03 9.98197477e-01 -1.42144073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14719347 meters Centerline goodness : 0.847808 Centerline is valid? [False, False] Translation: X:8.97, Y:0.21, Z:-1.42 [[ 9.96243759e-01 -6.29632834e-02 -5.94474298e-02 8.97225863e+00] [ 6.32778522e-02 9.97990082e-01 3.42206710e-03 2.06184653e-01] [ 5.91124807e-02 -7.17091867e-03 9.98225572e-01 -1.42117712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17719347 meters Centerline goodness : 0.846913 Centerline is valid? [False, False] Translation: X:8.97, Y:0.20, Z:-1.42 [[ 9.97096465e-01 -6.04281179e-02 -4.63366233e-02 8.97425429e+00] [ 6.07142645e-02 9.98143686e-01 4.79176423e-03 2.04528279e-01] [ 4.59610507e-02 -7.59114517e-03 9.98914389e-01 -1.42466976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20719347 meters Centerline goodness : 0.845606 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.43 [[ 9.97641841e-01 -6.02857648e-02 -3.28082853e-02 8.97680399e+00] [ 6.05061192e-02 9.98151180e-01 5.76466896e-03 2.02032991e-01] [ 3.24001012e-02 -7.73617697e-03 9.99445039e-01 -1.42956474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23719347 meters Centerline goodness : 0.849325 Centerline is valid? [False, False] Translation: X:8.98, Y:0.20, Z:-1.43 [[ 9.98004862e-01 -5.88829693e-02 -2.27835786e-02 8.98494368e+00] [ 5.89972619e-02 9.98248550e-01 4.37663959e-03 1.98958626e-01] [ 2.24859647e-02 -5.71207634e-03 9.99730841e-01 -1.43319218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26719347 meters Centerline goodness : 0.844779 Centerline is valid? [False, False] Translation: X:9.00, Y:0.19, Z:-1.44 [[ 0.99773459 -0.06481193 -0.01803055 8.99876784] [ 0.06498758 0.99784244 0.00933213 0.18963479] [ 0.01738681 -0.01048275 0.99979388 -1.43698978] [ 0. 0. 0. 1. ]] SLAMing on 91.29719347 meters Centerline goodness : 0.843821 Centerline is valid? [False, False] Translation: X:9.00, Y:0.18, Z:-1.44 [[ 9.97444349e-01 -6.90133829e-02 -1.84911833e-02 9.00138082e+00] [ 6.91755157e-02 9.97570175e-01 8.27609172e-03 1.83252738e-01] [ 1.78750919e-02 -9.53407805e-03 9.99794770e-01 -1.43734469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32719347 meters Centerline goodness : 0.848267 Centerline is valid? [False, False] Translation: X:9.00, Y:0.17, Z:-1.43 [[ 0.99716323 -0.06883344 -0.03045413 9.00022015] [ 0.06919908 0.99754091 0.01111862 0.17176874] [ 0.02961391 -0.01319448 0.99947432 -1.43394473] [ 0. 0. 0. 1. ]] SLAMing on 91.35719347 meters Centerline goodness : 0.845993 Centerline is valid? [False, False] Translation: X:9.00, Y:0.16, Z:-1.43 [[ 0.99678242 -0.07376987 -0.03134979 9.00358189] [ 0.0741312 0.99719298 0.01052258 0.16459162] [ 0.03048554 -0.01281272 0.99945308 -1.4339561 ] [ 0. 0. 0. 1. ]] SLAMing on 91.38719347 meters Centerline goodness : 0.842296 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99571528 -0.08407335 -0.03850647 9.01613655] [ 0.0847517 0.99626821 0.0163338 0.1516251 ] [ 0.03698954 -0.0195273 0.99912485 -1.43347145] [ 0. 0. 0. 1. ]] SLAMing on 91.41719347 meters Centerline goodness : 0.846450 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99527681 -0.08865134 -0.03956023 9.01983048] [ 0.08929632 0.9958945 0.01484262 0.14691113] [ 0.03808199 -0.0183051 0.99910694 -1.43374563] [ 0. 0. 0. 1. ]] SLAMing on 91.44719347 meters Centerline goodness : 0.845591 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99479518 -0.08767081 -0.05192666 9.01820741] [ 0.08861709 0.99593392 0.01620603 0.13854731] [ 0.05029473 -0.02072327 0.9985194 -1.43013286] [ 0. 0. 0. 1. ]] SLAMing on 91.47719347 meters Centerline goodness : 0.844726 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.9944957 -0.09085388 -0.05219071 9.02147712] [ 0.09174768 0.99566949 0.01498796 0.13227491] [ 0.05060299 -0.01969384 0.99852466 -1.43197078] [ 0. 0. 0. 1. ]] SLAMing on 91.50719347 meters Centerline goodness : 0.851734 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99450877 -0.09054231 -0.05248228 9.02261309] [ 0.09148717 0.99567955 0.01588479 0.1306841 ] [ 0.05081728 -0.02059902 0.99849551 -1.43245428] [ 0. 0. 0. 1. ]] SLAMing on 91.53719347 meters Centerline goodness : 0.849267 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99452457 -0.09029728 -0.05260503 9.02317115] [ 0.09126233 0.99569452 0.01623638 0.13009667] [ 0.05091244 -0.02094834 0.9984834 -1.4327901 ] [ 0. 0. 0. 1. ]] SLAMing on 91.56719347 meters Centerline goodness : 0.848414 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99452437 -0.09005049 -0.05303009 9.02411714] [ 0.09106208 0.99570055 0.01697397 0.12949613] [ 0.05127358 -0.02171006 0.99844864 -1.43276856] [ 0. 0. 0. 1. ]] SLAMing on 91.59719347000001 meters Centerline goodness : 0.851925 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99452501 -0.09003708 -0.05304078 9.02379118] [ 0.09109346 0.99568249 0.0178425 0.12786559] [ 0.05120529 -0.02257648 0.99843293 -1.43169251] [ 0. 0. 0. 1. ]] SLAMing on 91.62719347 meters Centerline goodness : 0.855092 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.43 [[ 0.99450188 -0.08997007 -0.05358545 9.02481474] [ 0.09108784 0.99566556 0.01879096 0.12678455] [ 0.05166257 -0.02356863 0.99838645 -1.43128999] [ 0. 0. 0. 1. ]] SLAMing on 91.65719347 meters Centerline goodness : 0.854682 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99445982 -0.09029159 -0.05382471 9.02519558] [ 0.09141269 0.99563677 0.01873894 0.12691781] [ 0.05189789 -0.02355538 0.99837456 -1.43099649] [ 0. 0. 0. 1. ]] SLAMing on 91.68719347 meters Centerline goodness : 0.860718 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99455217 -0.08880094 -0.05459274 9.02781658] [ 0.08997783 0.99575311 0.01948682 0.12891579] [ 0.05263044 -0.0242928 0.99831853 -1.43302341] [ 0. 0. 0. 1. ]] SLAMing on 91.71719347 meters Centerline goodness : 0.861135 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99467559 -0.08755965 -0.05434873 9.02734001] [ 0.08869838 0.99587917 0.01890168 0.13197151] [ 0.05246975 -0.02362168 0.9983431 -1.43384633] [ 0. 0. 0. 1. ]] SLAMing on 91.74719347 meters Centerline goodness : 0.863015 Centerline is valid? [False, False] Translation: X:9.03, Y:0.13, Z:-1.43 [[ 0.99501228 -0.08348594 -0.05459545 9.02751483] [ 0.08477065 0.99616523 0.02165117 0.1342584 ] [ 0.05257852 -0.02617128 0.99827379 -1.43478901] [ 0. 0. 0. 1. ]] SLAMing on 91.77719347 meters Centerline goodness : 0.867961 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99564619 -0.0772644 -0.05214292 9.02186082] [ 0.0785243 0.99665691 0.02255954 0.13992753] [ 0.05022555 -0.02655581 0.99838479 -1.43434763] [ 0. 0. 0. 1. ]] SLAMing on 91.80719347 meters Centerline goodness : 0.868660 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99595445 -0.07311311 -0.05224173 9.02102267] [ 0.07453588 0.99688392 0.02582336 0.14147683] [ 0.05019091 -0.02961278 0.99830053 -1.43391543] [ 0. 0. 0. 1. ]] SLAMing on 91.83719347 meters Centerline goodness : 0.870785 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.43 [[ 0.99610073 -0.07180032 -0.05126457 9.0185084 ] [ 0.07315164 0.99700778 0.02498653 0.14411826] [ 0.04931713 -0.02863919 0.99837248 -1.43363425] [ 0. 0. 0. 1. ]] SLAMing on 91.86719347 meters Centerline goodness : 0.869870 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99632489 -0.06852743 -0.05138771 9.01667976] [ 0.07000527 0.99716666 0.02753034 0.14794405] [ 0.04935552 -0.03102657 0.99829925 -1.4317549 ] [ 0. 0. 0. 1. ]] SLAMing on 91.89719347 meters Centerline goodness : 0.872114 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99631432 -0.06859332 -0.0515046 9.01645183] [ 0.07004551 0.99718 0.02693852 0.14999589] [ 0.04951155 -0.0304469 0.99830937 -1.43140208] [ 0. 0. 0. 1. ]] SLAMing on 91.92719347 meters Centerline goodness : 0.870638 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99632744 -0.06826298 -0.05168944 9.01686611] [ 0.0697066 0.99721125 0.02665904 0.15139159] [ 0.04972547 -0.03016423 0.99830732 -1.43175945] [ 0. 0. 0. 1. ]] SLAMing on 91.95719347 meters Centerline goodness : 0.876647 Centerline is valid? [False, False] Translation: X:9.02, Y:0.15, Z:-1.43 [[ 0.99637888 -0.06779516 -0.05131218 9.01605722] [ 0.06919373 0.99726471 0.02598709 0.15265706] [ 0.04941003 -0.02944347 0.9983445 -1.43205517] [ 0. 0. 0. 1. ]] SLAMing on 91.98719347 meters Centerline goodness : 0.876416 Centerline is valid? [False, False] Translation: X:9.01, Y:0.16, Z:-1.43 [[ 0.99659581 -0.06560595 -0.04992647 9.01434823] [ 0.06686715 0.99747265 0.02402297 0.15574248] [ 0.04822423 -0.02727963 0.99846394 -1.43463596] [ 0. 0. 0. 1. ]] SLAMing on 92.01719347 meters Centerline goodness : 0.875143 Centerline is valid? [False, False] Translation: X:9.01, Y:0.16, Z:-1.44 [[ 0.99669898 -0.06460377 -0.04916812 9.01384615] [ 0.06577321 0.9975798 0.02254855 0.15776001] [ 0.0475924 -0.02570806 0.99853596 -1.43681499] [ 0. 0. 0. 1. ]] SLAMing on 92.04719347 meters Centerline goodness : 0.874881 Centerline is valid? [False, False] Translation: X:9.02, Y:0.16, Z:-1.44 [[ 0.99685736 -0.062179 -0.04908341 9.01525912] [ 0.06335032 0.99773364 0.02267871 0.15911403] [ 0.04756203 -0.02571689 0.99853718 -1.43983064] [ 0. 0. 0. 1. ]] SLAMing on 92.07719347 meters Centerline goodness : 0.874075 Centerline is valid? [False, False] Translation: X:9.02, Y:0.16, Z:-1.44 [[ 0.99708057 -0.05807579 -0.04957363 9.0164455 ] [ 0.05944866 0.99787469 0.02668245 0.15898986] [ 0.04791867 -0.02955164 0.99841399 -1.44074675] [ 0. 0. 0. 1. ]] SLAMing on 92.10719347 meters Centerline goodness : 0.873803 Centerline is valid? [False, False] Translation: X:9.01, Y:0.16, Z:-1.44 [[ 0.99733341 -0.05484497 -0.04814658 9.01425668] [ 0.05621831 0.99803561 0.02764808 0.15801538] [ 0.04653565 -0.03028107 0.99845756 -1.4418695 ] [ 0. 0. 0. 1. ]] SLAMing on 92.13719347 meters Centerline goodness : 0.873950 Centerline is valid? [False, False] Translation: X:9.02, Y:0.16, Z:-1.44 [[ 0.99735653 -0.0541531 -0.04844983 9.01536397] [ 0.05557646 0.99804677 0.02852892 0.15579583] [ 0.04681026 -0.03114617 0.99841811 -1.44232377] [ 0. 0. 0. 1. ]] SLAMing on 92.16719347 meters Centerline goodness : 0.873334 Centerline is valid? [False, False] Translation: X:9.01, Y:0.15, Z:-1.44 [[ 0.99736069 -0.05527994 -0.04707201 9.01336896] [ 0.05653663 0.99806719 0.02579699 0.15383806] [ 0.04555497 -0.02839019 0.99855833 -1.44294841] [ 0. 0. 0. 1. ]] SLAMing on 92.19719347 meters Centerline goodness : 0.876606 Centerline is valid? [False, False] Translation: X:9.01, Y:0.15, Z:-1.44 [[ 0.99750405 -0.05322425 -0.0463989 9.01406846] [ 0.05459583 0.99809278 0.02881151 0.14555476] [ 0.04477694 -0.03127279 0.99850741 -1.4445145 ] [ 0. 0. 0. 1. ]] SLAMing on 92.22719347 meters Centerline goodness : 0.869672 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.45 [[ 0.99741048 -0.05519917 -0.04610189 9.01529631] [ 0.05648039 0.99803948 0.0269658 0.14194385] [ 0.04452302 -0.02949982 0.99857271 -1.44604899] [ 0. 0. 0. 1. ]] SLAMing on 92.25719347 meters Centerline goodness : 0.868784 Centerline is valid? [False, False] Translation: X:9.02, Y:0.14, Z:-1.45 [[ 0.99727062 -0.05807929 -0.04558634 9.01540117] [ 0.05925202 0.99793472 0.02480913 0.13802849] [ 0.04405129 -0.0274425 0.99865229 -1.44640384] [ 0. 0. 0. 1. ]] SLAMing on 92.28719347 meters Centerline goodness : 0.867425 Centerline is valid? [False, False] Translation: X:9.02, Y:0.13, Z:-1.45 [[ 0.99708074 -0.06113661 -0.04574188 9.01696105] [ 0.06225064 0.99778763 0.0233388 0.13381681] [ 0.04421382 -0.02611813 0.99868062 -1.44662449] [ 0. 0. 0. 1. ]] SLAMing on 92.31719347 meters Centerline goodness : 0.870124 Centerline is valid? [False, False] Translation: X:9.02, Y:0.12, Z:-1.45 [[ 0.99653619 -0.06667258 -0.04970311 9.02396802] [ 0.06806184 0.99732104 0.0268016 0.12248388] [ 0.04778302 -0.03009165 0.99840436 -1.44526249] [ 0. 0. 0. 1. ]] SLAMing on 92.34719347000001 meters Centerline goodness : 0.869869 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:-1.44 [[ 0.99620969 -0.07108133 -0.05013671 9.02598226] [ 0.07240013 0.99706241 0.02499533 0.11697845] [ 0.04821273 -0.0285305 0.99842954 -1.44491001] [ 0. 0. 0. 1. ]] SLAMing on 92.37719347 meters Centerline goodness : 0.869869 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:-1.44 [[ 0.99620969 -0.07108133 -0.05013671 9.02598226] [ 0.07240013 0.99706241 0.02499533 0.11697845] [ 0.04821273 -0.0285305 0.99842954 -1.44491001] [ 0. 0. 0. 1. ]] SLAMing on 92.40719347 meters Centerline goodness : 0.872051 Centerline is valid? [False, False] Translation: X:9.03, Y:0.11, Z:-1.44 [[ 0.99538892 -0.0801012 -0.05277024 9.03213318] [ 0.08141325 0.99641042 0.02319837 0.10554602] [ 0.05072259 -0.0273876 0.99833719 -1.44416347] [ 0. 0. 0. 1. ]] SLAMing on 92.43719347 meters Centerline goodness : 0.876507 Centerline is valid? [False, False] Translation: X:9.03, Y:0.10, Z:-1.44 [[ 0.99504794 -0.08398922 -0.05315463 9.03369063] [ 0.08521066 0.99613863 0.0211418 0.10219446] [ 0.0511737 -0.02556645 0.99836246 -1.44360325] [ 0. 0. 0. 1. ]] SLAMing on 92.46719347 meters Centerline goodness : 0.875047 Centerline is valid? [False, False] Translation: X:9.04, Y:0.10, Z:-1.44 [[ 0.99489134 -0.08514982 -0.05422843 9.03566243] [ 0.08648892 0.99599094 0.02284093 0.09785127] [ 0.05206613 -0.0274144 0.99826728 -1.44215301] [ 0. 0. 0. 1. ]] SLAMing on 92.49719347 meters Centerline goodness : 0.872732 Centerline is valid? [False, False] Translation: X:9.04, Y:0.10, Z:-1.44 [[ 0.99457425 -0.08879663 -0.05419618 9.03594733] [ 0.09001345 0.99573087 0.02043539 0.09529749] [ 0.05215022 -0.0252029 0.99832118 -1.44108544] [ 0. 0. 0. 1. ]] SLAMing on 92.52719347 meters Centerline goodness : 0.876647 Centerline is valid? [False, False] Translation: X:9.04, Y:0.09, Z:-1.44 [[ 0.99420911 -0.09269929 -0.05436077 9.03700359] [ 0.09379091 0.99543134 0.01788057 0.09248566] [ 0.0524549 -0.02287558 0.99836125 -1.44045945] [ 0. 0. 0. 1. ]] SLAMing on 92.55719347 meters Centerline goodness : 0.873491 Centerline is valid? [False, False] Translation: X:9.04, Y:0.09, Z:-1.44 [[ 0.99374172 -0.09718654 -0.0550651 9.0387979 ] [ 0.09823052 0.99502566 0.01657433 0.08705866] [ 0.05318038 -0.02187967 0.99834519 -1.43869928] [ 0. 0. 0. 1. ]] SLAMing on 92.58719347 meters Centerline goodness : 0.871642 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99364242 -0.09764884 -0.05603072 9.0406656 ] [ 0.09878306 0.99494912 0.01783692 0.08440391] [ 0.05400596 -0.0232584 0.9982697 -1.43792123] [ 0. 0. 0. 1. ]] SLAMing on 92.61719347 meters Centerline goodness : 0.876119 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99354737 -0.09833193 -0.05651943 9.04144471] [ 0.09950698 0.99486748 0.01835929 0.082843 ] [ 0.05442403 -0.0238649 0.99823268 -1.43708417] [ 0. 0. 0. 1. ]] SLAMing on 92.64719347 meters Centerline goodness : 0.875611 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99349605 -0.09850456 -0.05711792 9.04255996] [ 0.09973834 0.99482919 0.019161 0.08179274] [ 0.05493512 -0.02473323 0.99818355 -1.43657605] [ 0. 0. 0. 1. ]] SLAMing on 92.67719347 meters Centerline goodness : 0.877323 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99344549 -0.0990347 -0.05708058 9.04216013] [ 0.10025965 0.99477979 0.01900429 0.08213556] [ 0.05490053 -0.02460261 0.99818868 -1.43580281] [ 0. 0. 0. 1. ]] SLAMing on 92.70719347 meters Centerline goodness : 0.874328 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99344741 -0.09885854 -0.05735181 9.04320156] [ 0.10011001 0.99478786 0.01936753 0.08155373] [ 0.05513824 -0.02498212 0.99816615 -1.43632748] [ 0. 0. 0. 1. ]] SLAMing on 92.73719347 meters Centerline goodness : 0.877477 Centerline is valid? [False, False] Translation: X:9.04, Y:0.08, Z:-1.44 [[ 0.99341235 -0.09921287 -0.05734735 9.04424128] [ 0.10038876 0.99478556 0.01799397 0.08385669] [ 0.05526308 -0.02363246 0.99819211 -1.43804751] [ 0. 0. 0. 1. ]] SLAMing on 92.76719347 meters Centerline goodness : 0.878909 Centerline is valid? [False, False] Translation: X:9.04, Y:0.09, Z:-1.44 [[ 0.99338912 -0.09940368 -0.05741921 9.04469958] [ 0.10051107 0.99479537 0.01672413 0.08736949] [ 0.05545792 -0.02238484 0.99821007 -1.43901702] [ 0. 0. 0. 1. ]] SLAMing on 92.79719347 meters Centerline goodness : 0.877786 Centerline is valid? [False, False] Translation: X:9.05, Y:0.09, Z:-1.44 [[ 0.99338805 -0.09876243 -0.0585335 9.04806619] [ 0.09988321 0.99486178 0.01653454 0.09085156] [ 0.05659975 -0.02227172 0.99814851 -1.44112049] [ 0. 0. 0. 1. ]] SLAMing on 92.82719347 meters Centerline goodness : 0.878267 Centerline is valid? [False, False] Translation: X:9.05, Y:0.09, Z:-1.44 [[ 0.99329116 -0.0995523 -0.05883878 9.04937301] [ 0.10058054 0.99481924 0.01477289 0.09470831] [ 0.05706328 -0.02059182 0.99815818 -1.4425498 ] [ 0. 0. 0. 1. ]] SLAMing on 92.85719347 meters Centerline goodness : 0.880474 Centerline is valid? [False, False] Translation: X:9.05, Y:0.10, Z:-1.45 [[ 0.99311453 -0.10026896 -0.06057774 9.05437466] [ 0.10124148 0.99477436 0.01319621 0.10070698] [ 0.05893801 -0.01923833 0.99807625 -1.44543642] [ 0. 0. 0. 1. ]] SLAMing on 92.88719347 meters Centerline goodness : 0.879290 Centerline is valid? [False, False] Translation: X:9.06, Y:0.10, Z:-1.44 [[ 0.99321662 -0.09849759 -0.06179775 9.0552213 ] [ 0.09962709 0.99490469 0.01546273 0.10359415] [ 0.05995983 -0.02151457 0.99796891 -1.44425376] [ 0. 0. 0. 1. ]] SLAMing on 92.91719347 meters Centerline goodness : 0.880209 Centerline is valid? [False, False] Translation: X:9.05, Y:0.11, Z:-1.44 [[ 0.99338025 -0.09654298 -0.06225062 9.05378644] [ 0.09779162 0.99505608 0.01732636 0.10745684] [ 0.06027012 -0.02329926 0.99791015 -1.44214035] [ 0. 0. 0. 1. ]] SLAMing on 92.94719347 meters Centerline goodness : 0.881236 Centerline is valid? [False, False] Translation: X:9.05, Y:0.11, Z:-1.44 [[ 0.99364313 -0.09307945 -0.06332102 9.05391354] [ 0.09453737 0.99531176 0.02042506 0.11110401] [ 0.061123 -0.02628142 0.99778418 -1.44065018] [ 0. 0. 0. 1. ]] SLAMing on 92.97719347 meters Centerline goodness : 0.884600 Centerline is valid? [False, False] Translation: X:9.04, Y:0.12, Z:-1.44 [[ 0.99452037 -0.08272938 -0.06391471 9.04191357] [ 0.0836684 0.99641954 0.01215307 0.12191635] [ 0.06268045 -0.01743412 0.99788136 -1.43596235] [ 0. 0. 0. 1. ]] SLAMing on 93.00719347 meters Centerline goodness : 0.885423 Centerline is valid? [False, False] Translation: X:9.04, Y:0.13, Z:-1.44 [[ 0.99485859 -0.07829097 -0.064241 9.04183205] [ 0.07935941 0.99674424 0.01424822 0.1269397 ] [ 0.06291634 -0.0192731 0.99783269 -1.43657197] [ 0. 0. 0. 1. ]] SLAMing on 93.03719347 meters Centerline goodness : 0.887323 Centerline is valid? [False, False] Translation: X:9.04, Y:0.13, Z:-1.44 [[ 0.99516767 -0.07424826 -0.0642534 9.04137582] [ 0.07539237 0.99703245 0.01556525 0.13230372] [ 0.06290703 -0.02033425 0.99781222 -1.43774256] [ 0. 0. 0. 1. ]] SLAMing on 93.06719347 meters Centerline goodness : 0.888625 Centerline is valid? [False, False] Translation: X:9.04, Y:0.14, Z:-1.44 [[ 0.99573209 -0.06573954 -0.06477587 9.04205141] [ 0.06710381 0.99756291 0.01911343 0.14299136] [ 0.06336149 -0.02337856 0.99771678 -1.44054991] [ 0. 0. 0. 1. ]] SLAMing on 93.09719347000001 meters Centerline goodness : 0.884067 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99589498 -0.06248895 -0.06548521 9.04280995] [ 0.06399893 0.99772438 0.02121802 0.14735191] [ 0.0640103 -0.0253219 0.99762793 -1.44095634] [ 0. 0. 0. 1. ]] SLAMing on 93.12719347 meters Centerline goodness : 0.883119 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99587401 -0.06266203 -0.06563862 9.04294229] [ 0.0640738 0.99775215 0.01962657 0.15148203] [ 0.06426124 -0.02375131 0.99765042 -1.44142963] [ 0. 0. 0. 1. ]] SLAMing on 93.15719347 meters Centerline goodness : 0.881059 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99579497 -0.06350184 -0.06602949 9.04408011] [ 0.06483721 0.99772842 0.01827936 0.15380028] [ 0.06471873 -0.02248366 0.99765022 -1.44223185] [ 0. 0. 0. 1. ]] SLAMing on 93.18719347 meters Centerline goodness : 0.879166 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.44 [[ 0.99580856 -0.06344746 -0.06587669 9.04441931] [ 0.06472681 0.99775011 0.0174689 0.15488373] [ 0.06462012 -0.02165967 0.99767485 -1.44334831] [ 0. 0. 0. 1. ]] SLAMing on 93.21719347 meters Centerline goodness : 0.880004 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.44 [[ 0.99590466 -0.06247007 -0.06535588 9.04349896] [ 0.06370877 0.99782301 0.01704192 0.1558319 ] [ 0.06414899 -0.02113587 0.99771648 -1.44385845] [ 0. 0. 0. 1. ]] SLAMing on 93.24719347 meters Centerline goodness : 0.890304 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99603164 -0.06113008 -0.06468457 9.04263829] [ 0.06231592 0.99792049 0.01647484 0.15706057] [ 0.06354295 -0.02044034 0.99776976 -1.44500834] [ 0. 0. 0. 1. ]] SLAMing on 93.27719347 meters Centerline goodness : 0.880011 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99619004 -0.05938331 -0.06386727 9.0415766 ] [ 0.06052496 0.998037 0.01608985 0.15776805] [ 0.06278643 -0.01989411 0.99782869 -1.44634781] [ 0. 0. 0. 1. ]] SLAMing on 93.30719347 meters Centerline goodness : 0.878605 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99649316 -0.05591421 -0.0622493 9.03868098] [ 0.0570698 0.99822643 0.01694198 0.15606269] [ 0.0611916 -0.02043513 0.99791683 -1.44716952] [ 0. 0. 0. 1. ]] SLAMing on 93.33719347 meters Centerline goodness : 0.879117 Centerline is valid? [False, False] Translation: X:9.04, Y:0.16, Z:-1.45 [[ 0.99633541 -0.05819441 -0.062683 9.0410459 ] [ 0.05921567 0.99813905 0.01455831 0.15570117] [ 0.06171914 -0.01821678 0.9979273 -1.44828583] [ 0. 0. 0. 1. ]] SLAMing on 93.36719347 meters Centerline goodness : 0.877609 Centerline is valid? [False, False] Translation: X:9.04, Y:0.15, Z:-1.45 [[ 0.99613966 -0.06115006 -0.06297981 9.04326663] [ 0.06202614 0.9980018 0.01204871 0.15453404] [ 0.06211718 -0.01590859 0.99794207 -1.44950959] [ 0. 0. 0. 1. ]] SLAMing on 93.39719347 meters Centerline goodness : 0.875094 Centerline is valid? [False, False] Translation: X:9.06, Y:0.15, Z:-1.45 [[ 0.99512291 -0.06950265 -0.06999842 9.05559868] [ 0.07068448 0.99739264 0.01454761 0.14847843] [ 0.06880481 -0.01942446 0.99744102 -1.45000448] [ 0. 0. 0. 1. ]] SLAMing on 93.42719347 meters Centerline goodness : 0.874251 Centerline is valid? [False, False] Translation: X:9.06, Y:0.15, Z:-1.45 [[ 0.99470043 -0.07469505 -0.07065204 9.05846465] [ 0.07571462 0.99705898 0.01186088 0.14525869] [ 0.06955831 -0.01714741 0.9974305 -1.45030779] [ 0. 0. 0. 1. ]] SLAMing on 93.45719347 meters Centerline goodness : 0.873088 Centerline is valid? [False, False] Translation: X:9.06, Y:0.14, Z:-1.45 [[ 0.99426618 -0.079631 -0.07136991 9.06134053] [ 0.08048965 0.99671269 0.00923226 0.14197704] [ 0.07040012 -0.01492386 0.99740719 -1.45048249] [ 0. 0. 0. 1. ]] SLAMing on 93.48719347 meters Centerline goodness : 0.871591 Centerline is valid? [False, False] Translation: X:9.06, Y:0.14, Z:-1.45 [[ 9.93531102e-01 -8.82977913e-02 -7.14104341e-02 9.06334548e+00] [ 8.87460444e-02 9.96049390e-01 3.12271000e-03 1.38153487e-01] [ 7.08525909e-02 -9.43990307e-03 9.97442128e-01 -1.45024210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51719347 meters Centerline goodness : 0.873288 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 9.93381565e-01 -8.91469821e-02 -7.24284641e-02 9.06559889e+00] [ 8.96630280e-02 9.95964529e-01 3.89856570e-03 1.36911172e-01] [ 7.17886357e-02 -1.03669187e-02 9.97365990e-01 -1.44992890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54719347 meters Centerline goodness : 0.873993 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 9.93288956e-01 -8.96151922e-02 -7.31174916e-02 9.06658471e+00] [ 9.01819763e-02 9.95915224e-01 4.48082725e-03 1.36602462e-01] [ 7.24172729e-02 -1.10446361e-02 9.97313268e-01 -1.44910438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57719347 meters Centerline goodness : 0.876205 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 9.93400162e-01 -8.70523489e-02 -7.46860586e-02 9.06909247e+00] [ 8.79653414e-02 9.96082724e-01 9.01699154e-03 1.35093988e-01] [ 7.36085424e-02 -1.55272655e-02 9.97166328e-01 -1.44836233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60719347 meters Centerline goodness : 0.875731 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99350416 -0.08614352 -0.07435576 9.06751826] [ 0.08708033 0.99615653 0.00944427 0.13555295] [ 0.07325642 -0.01585784 0.99718706 -1.44721761] [ 0. 0. 0. 1. ]] SLAMing on 93.63719347 meters Centerline goodness : 0.876600 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99357624 -0.08523706 -0.07443722 9.06752521] [ 0.08620362 0.99622871 0.00986416 0.13567924] [ 0.0733157 -0.01621755 0.99717691 -1.44710299] [ 0. 0. 0. 1. ]] SLAMing on 93.66719347 meters Centerline goodness : 0.874452 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99366764 -0.0844362 -0.0741293 9.06691543] [ 0.08541909 0.99629306 0.01018468 0.13549729] [ 0.07299455 -0.01645224 0.99719663 -1.44716538] [ 0. 0. 0. 1. ]] SLAMing on 93.69719347 meters Centerline goodness : 0.876788 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.45 [[ 0.9937487 -0.08356909 -0.07402525 9.06721559] [ 0.0845807 0.9963599 0.01063241 0.13459165] [ 0.07286725 -0.01682705 0.99719969 -1.4478646 ] [ 0. 0. 0. 1. ]] SLAMing on 93.72719347 meters Centerline goodness : 0.874992 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.45 [[ 0.99391343 -0.08161242 -0.07399661 9.0684257 ] [ 0.08266964 0.99651256 0.01133381 0.13434619] [ 0.07281358 -0.0173821 0.99719409 -1.4497966 ] [ 0. 0. 0. 1. ]] SLAMing on 93.75719347 meters Centerline goodness : 0.877325 Centerline is valid? [False, False] Translation: X:9.07, Y:0.13, Z:-1.45 [[ 0.99411796 -0.07816884 -0.07496069 9.06989466] [ 0.07954651 0.99670958 0.01556796 0.13401607] [ 0.07349711 -0.02143925 0.99706496 -1.4497316 ] [ 0. 0. 0. 1. ]] SLAMing on 93.78719347 meters Centerline goodness : 0.876143 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99415716 -0.077537 -0.07509697 9.07004322] [ 0.07890655 0.99676243 0.01544054 0.13561199] [ 0.07365662 -0.02127597 0.99705669 -1.44990478] [ 0. 0. 0. 1. ]] SLAMing on 93.81719347 meters Centerline goodness : 0.876265 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99439054 -0.07560054 -0.07397312 9.06830817] [ 0.07691191 0.99692447 0.01503854 0.13655179] [ 0.07260869 -0.0206436 0.99714684 -1.45112324] [ 0. 0. 0. 1. ]] SLAMing on 93.84719347000001 meters Centerline goodness : 0.877449 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99451799 -0.07383693 -0.07404103 9.06982777] [ 0.07519738 0.99704421 0.01575428 0.13631706] [ 0.07265893 -0.02123561 0.99713075 -1.45321034] [ 0. 0. 0. 1. ]] SLAMing on 93.87719347 meters Centerline goodness : 0.877265 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99459093 -0.07333928 -0.07355433 9.06964489] [ 0.07464657 0.9970945 0.01518076 0.13655078] [ 0.07222728 -0.02058922 0.99717566 -1.45445038] [ 0. 0. 0. 1. ]] SLAMing on 93.90719347 meters Centerline goodness : 0.880359 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99468622 -0.07231261 -0.0732817 9.06929057] [ 0.07364558 0.99716167 0.01565039 0.13668329] [ 0.07194199 -0.0209641 0.99718848 -1.4547178 ] [ 0. 0. 0. 1. ]] SLAMing on 93.93719347 meters Centerline goodness : 0.879832 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.9945024 -0.07555006 -0.07250627 9.06776227] [ 0.07657881 0.99699708 0.01151109 0.13850562] [ 0.07141887 -0.01700025 0.99730153 -1.45432159] [ 0. 0. 0. 1. ]] SLAMing on 93.96719347 meters Centerline goodness : 0.877634 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99445005 -0.07554619 -0.07322481 9.06912878] [ 0.07666481 0.99697751 0.01258413 0.13755765] [ 0.0720528 -0.01812806 0.99723606 -1.45385016] [ 0. 0. 0. 1. ]] SLAMing on 93.99719347 meters Centerline goodness : 0.878842 Centerline is valid? [False, False] Translation: X:9.07, Y:0.14, Z:-1.45 [[ 0.99435854 -0.07626335 -0.07372247 9.06984305] [ 0.07743266 0.99691111 0.01313095 0.13653922] [ 0.07249334 -0.0187654 0.99719235 -1.45295576] [ 0. 0. 0. 1. ]] SLAMing on 94.02719347 meters Centerline goodness : 0.879584 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.46 [[ 0.99435511 -0.08243351 -0.06680297 9.08043613] [ 0.08359417 0.9963905 0.01476464 0.13481143] [ 0.06534474 -0.02026564 0.99765694 -1.4563264 ] [ 0. 0. 0. 1. ]] SLAMing on 94.05719347 meters Centerline goodness : 0.882537 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.46 [[ 0.99432044 -0.08239791 -0.06736052 9.08122586] [ 0.08366079 0.99636354 0.01614239 0.13262389] [ 0.06578547 -0.02168615 0.99759811 -1.45531652] [ 0. 0. 0. 1. ]] SLAMing on 94.08719347 meters Centerline goodness : 0.882006 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.45 [[ 0.99425381 -0.08257963 -0.06811733 9.08218317] [ 0.08395535 0.99631439 0.01758218 0.13047887] [ 0.06641435 -0.02319997 0.99752238 -1.45394692] [ 0. 0. 0. 1. ]] SLAMing on 94.11719347 meters Centerline goodness : 0.879648 Centerline is valid? [False, False] Translation: X:9.08, Y:0.13, Z:-1.45 [[ 0.99403955 -0.08405408 -0.06942823 9.08490738] [ 0.08553671 0.99616026 0.01866021 0.12808907] [ 0.06759318 -0.02448765 0.99741241 -1.4531901 ] [ 0. 0. 0. 1. ]] SLAMing on 94.14719347 meters Centerline goodness : 0.879145 Centerline is valid? [False, False] Translation: X:9.09, Y:0.13, Z:-1.45 [[ 0.99391089 -0.08560507 -0.06937519 9.08663581] [ 0.08696512 0.99606933 0.01682159 0.12683639] [ 0.06766248 -0.02275238 0.9974488 -1.45483199] [ 0. 0. 0. 1. ]] SLAMing on 94.17719347 meters Centerline goodness : 0.880699 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.99390122 -0.08547795 -0.06966981 9.08797622] [ 0.08692002 0.9960539 0.0179313 0.12360393] [ 0.06786215 -0.02387764 0.99740894 -1.45521964] [ 0. 0. 0. 1. ]] SLAMing on 94.20719347 meters Centerline goodness : 0.882373 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.99391662 -0.085156 -0.06984413 9.08883721] [ 0.0866807 0.99605318 0.01909226 0.12060145] [ 0.06794265 -0.02503025 0.9973752 -1.455369 ] [ 0. 0. 0. 1. ]] SLAMing on 94.23719347 meters Centerline goodness : 0.884216 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.9936906 -0.08766988 -0.06994986 9.09042049] [ 0.08899047 0.99590419 0.01598559 0.12133238] [ 0.06826191 -0.0221096 0.99742242 -1.45658089] [ 0. 0. 0. 1. ]] SLAMing on 94.26719347 meters Centerline goodness : 0.884216 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.9936906 -0.08766988 -0.06994986 9.09042049] [ 0.08899047 0.99590419 0.01598559 0.12133238] [ 0.06826191 -0.0221096 0.99742242 -1.45658089] [ 0. 0. 0. 1. ]] SLAMing on 94.29719347 meters Centerline goodness : 0.882514 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.9938125 -0.08492387 -0.07158663 9.09352961] [ 0.08658983 0.99603324 0.02049346 0.11997827] [ 0.06956228 -0.02656533 0.99722383 -1.45663517] [ 0. 0. 0. 1. ]] SLAMing on 94.32719347 meters Centerline goodness : 0.882281 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.9937104 -0.08554134 -0.07226564 9.09526038] [ 0.08722752 0.99597741 0.02050279 0.11948471] [ 0.07022111 -0.02667739 0.99717467 -1.4569413 ] [ 0. 0. 0. 1. ]] SLAMing on 94.35719347 meters Centerline goodness : 0.886828 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99337522 -0.08880241 -0.07293702 9.09976027] [ 0.0903464 0.99574513 0.01814308 0.11583235] [ 0.07101554 -0.02461249 0.99717151 -1.4598074 ] [ 0. 0. 0. 1. ]] SLAMing on 94.38719347 meters Centerline goodness : 0.888451 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99306992 -0.0922161 -0.0728583 9.1009451 ] [ 0.09351587 0.99551033 0.01462721 0.11623993] [ 0.07118232 -0.02133924 0.99723503 -1.46082626] [ 0. 0. 0. 1. ]] SLAMing on 94.41719347 meters Centerline goodness : 0.887935 Centerline is valid? [False, False] Translation: X:9.11, Y:0.12, Z:-1.46 [[ 0.99296539 -0.09210027 -0.0744128 9.10500495] [ 0.09353101 0.99548829 0.01596921 0.11516722] [ 0.0726063 -0.02281678 0.99709965 -1.46176035] [ 0. 0. 0. 1. ]] SLAMing on 94.44719347 meters Centerline goodness : 0.888301 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99285567 -0.09265178 -0.07518819 9.10650053] [ 0.09418501 0.99540782 0.01710124 0.11328202] [ 0.07325845 -0.02406067 0.99702271 -1.4610436 ] [ 0. 0. 0. 1. ]] SLAMing on 94.47719347 meters Centerline goodness : 0.888319 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99288569 -0.09232466 -0.07519416 9.10627017] [ 0.09388798 0.99542859 0.01752034 0.11288866] [ 0.07323286 -0.02445553 0.99701498 -1.46055594] [ 0. 0. 0. 1. ]] SLAMing on 94.50719347 meters Centerline goodness : 0.890366 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99298551 -0.09138753 -0.0750207 9.1056326 ] [ 0.09297419 0.99550707 0.01792954 0.11314047] [ 0.0730451 -0.02477876 0.99702078 -1.46023705] [ 0. 0. 0. 1. ]] SLAMing on 94.53719347 meters Centerline goodness : 0.890680 Centerline is valid? [False, False] Translation: X:9.11, Y:0.11, Z:-1.46 [[ 0.99333069 -0.08722591 -0.07540418 9.10527462] [ 0.08911079 0.99577876 0.02199851 0.11300816] [ 0.07316705 -0.02857112 0.99691036 -1.45953601] [ 0. 0. 0. 1. ]] SLAMing on 94.56719347 meters Centerline goodness : 0.895420 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99417532 -0.07992977 -0.07229571 9.10175542] [ 0.08132101 0.9965513 0.01650474 0.11901812] [ 0.07072716 -0.02228776 0.99724667 -1.45520267] [ 0. 0. 0. 1. ]] SLAMing on 94.59719347000001 meters Centerline goodness : 0.893168 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99457219 -0.0751251 -0.07198875 9.10055158] [ 0.07674727 0.99684926 0.020035 0.11978893] [ 0.0702568 -0.02545119 0.9972042 -1.45538703] [ 0. 0. 0. 1. ]] SLAMing on 94.62719347 meters Centerline goodness : 0.894080 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99476939 -0.07358843 -0.07084204 9.09818753] [ 0.07510488 0.99699495 0.01898229 0.12266639] [ 0.06923228 -0.02420359 0.99730691 -1.45593047] [ 0. 0. 0. 1. ]] SLAMing on 94.65719347 meters Centerline goodness : 0.894029 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99517344 -0.06859361 -0.07017648 9.09547832] [ 0.07029953 0.99728037 0.02213229 0.12457987] [ 0.06846749 -0.02695884 0.99728904 -1.45533973] [ 0. 0. 0. 1. ]] SLAMing on 94.68719347 meters Centerline goodness : 0.893274 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:-1.46 [[ 0.99518773 -0.06860391 -0.06996347 9.09480289] [ 0.07028278 0.99728841 0.02182098 0.12458725] [ 0.06827675 -0.0266332 0.99731086 -1.45503267] [ 0. 0. 0. 1. ]] SLAMing on 94.71719347 meters Centerline goodness : 0.893076 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.9950883 -0.07041684 -0.06957552 9.09533407] [ 0.0718916 0.99723295 0.01892195 0.12451857] [ 0.06805057 -0.0238309 0.99739722 -1.45621225] [ 0. 0. 0. 1. ]] SLAMing on 94.74719347 meters Centerline goodness : 0.892932 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99501401 -0.07079669 -0.07024915 9.09728052] [ 0.07233825 0.99718667 0.01964514 0.12246971] [ 0.0686607 -0.02462889 0.99733601 -1.45651149] [ 0. 0. 0. 1. ]] SLAMing on 94.77719347 meters Centerline goodness : 0.892990 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99497712 -0.07088387 -0.07068237 9.09816007] [ 0.07244773 0.99717547 0.01980946 0.12269679] [ 0.06907856 -0.02483074 0.99730215 -1.45647872] [ 0. 0. 0. 1. ]] SLAMing on 94.80719347 meters Centerline goodness : 0.890718 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99494986 -0.07084588 -0.07110302 9.09914567] [ 0.0724277 0.99717477 0.01991762 0.12288883] [ 0.06949106 -0.02496687 0.9972701 -1.45667251] [ 0. 0. 0. 1. ]] SLAMing on 94.83719347 meters Centerline goodness : 0.890992 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99493534 -0.07080329 -0.07134813 9.10031305] [ 0.07241968 0.99716712 0.02032544 0.12166988] [ 0.0697069 -0.0253895 0.99724436 -1.45729372] [ 0. 0. 0. 1. ]] SLAMing on 94.86719347 meters Centerline goodness : 0.892226 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:-1.46 [[ 0.99479492 -0.07377105 -0.07029158 9.10093205] [ 0.07517196 0.99701712 0.01749409 0.11603417] [ 0.06879135 -0.02268699 0.99737307 -1.45928514] [ 0. 0. 0. 1. ]] SLAMing on 94.89719347 meters Centerline goodness : 0.888989 Centerline is valid? [False, False] Translation: X:9.10, Y:0.11, Z:-1.46 [[ 0.9947833 -0.07365488 -0.07057716 9.10229736] [ 0.07520251 0.99697712 0.01952437 0.11102313] [ 0.06892575 -0.02473009 0.99731523 -1.45925147] [ 0. 0. 0. 1. ]] SLAMing on 94.92719347 meters Centerline goodness : 0.891058 Centerline is valid? [False, False] Translation: X:9.10, Y:0.11, Z:-1.46 [[ 0.99459044 -0.07626004 -0.07052842 9.10384168] [ 0.07767894 0.99682315 0.01759521 0.10784381] [ 0.06896255 -0.0229786 0.99735458 -1.46013022] [ 0. 0. 0. 1. ]] SLAMing on 94.95719347 meters Centerline goodness : 0.889963 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 0.99425148 -0.07795055 -0.073401 9.10872256] [ 0.07981106 0.99655013 0.0227603 0.09798804] [ 0.0713736 -0.02848767 0.99704276 -1.45800673] [ 0. 0. 0. 1. ]] SLAMing on 94.98719347 meters Centerline goodness : 0.886670 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.46 [[ 0.99393858 -0.08181276 -0.07343552 9.10897862] [ 0.08353033 0.99629176 0.02062553 0.09490266] [ 0.07147577 -0.0266346 0.99708666 -1.45672452] [ 0. 0. 0. 1. ]] SLAMing on 95.01719347 meters Centerline goodness : 0.888726 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.46 [[ 0.99360411 -0.08552464 -0.073732 9.11003269] [ 0.08712579 0.9960204 0.01877413 0.09136003] [ 0.07183293 -0.02507801 0.99710136 -1.4556734 ] [ 0. 0. 0. 1. ]] SLAMing on 95.04719347 meters Centerline goodness : 0.887688 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.45 [[ 0.9932697 -0.08920479 -0.07387694 9.11078192] [ 0.09066698 0.99574167 0.0166743 0.08814663] [ 0.07207492 -0.02326028 0.99712796 -1.45468521] [ 0. 0. 0. 1. ]] SLAMing on 95.07719347 meters Centerline goodness : 0.888670 Centerline is valid? [False, False] Translation: X:9.11, Y:0.08, Z:-1.45 [[ 0.99274875 -0.09418661 -0.07469132 9.11336336] [ 0.09557528 0.99530564 0.01523305 0.08243287] [ 0.07290595 -0.02226124 0.99709035 -1.45366476] [ 0. 0. 0. 1. ]] SLAMing on 95.10719347 meters Centerline goodness : 0.890397 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99236409 -0.09783878 -0.07510711 9.1161871 ] [ 0.09904748 0.9950038 0.01253144 0.08040382] [ 0.0735058 -0.01987492 0.99709673 -1.45488955] [ 0. 0. 0. 1. ]] SLAMing on 95.13719347 meters Centerline goodness : 0.886323 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.46 [[ 0.99199974 -0.10128312 -0.07535415 9.11920708] [ 0.10229295 0.99470747 0.00965444 0.07844061] [ 0.07397751 -0.0172854 0.9971101 -1.45685303] [ 0. 0. 0. 1. ]] SLAMing on 95.16719347 meters Centerline goodness : 0.890859 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.46 [[ 0.9919116 -0.1015645 -0.07613163 9.12180132] [ 0.10265649 0.99466081 0.01055983 0.07554074] [ 0.07465264 -0.01828982 0.99704186 -1.45766407] [ 0. 0. 0. 1. ]] SLAMing on 95.19719347 meters Centerline goodness : 0.887754 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.46 [[ 0.99166102 -0.10332447 -0.07702257 9.1239232 ] [ 0.10436052 0.99449379 0.00953898 0.07741074] [ 0.07561285 -0.01749755 0.99698372 -1.45785016] [ 0. 0. 0. 1. ]] SLAMing on 95.22719347 meters Centerline goodness : 0.887530 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99184404 -0.10045395 -0.07844995 9.12551017] [ 0.10182613 0.99470813 0.01368108 0.07709468] [ 0.07666049 -0.02155775 0.99682417 -1.45680525] [ 0. 0. 0. 1. ]] SLAMing on 95.25719347 meters Centerline goodness : 0.888197 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99175734 -0.1007991 -0.0791007 9.12614649] [ 0.10217746 0.99467369 0.01356534 0.07817639] [ 0.07731201 -0.02153583 0.99677433 -1.45593501] [ 0. 0. 0. 1. ]] SLAMing on 95.28719347 meters Centerline goodness : 0.888365 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99198422 -0.09756917 -0.08029671 9.12769589] [ 0.09931522 0.99489254 0.01803685 0.07649593] [ 0.07812676 -0.02586695 0.9966078 -1.45525397] [ 0. 0. 0. 1. ]] SLAMing on 95.31719347 meters Centerline goodness : 0.889301 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99216074 -0.09358178 -0.08282218 9.11700247] [ 0.09481188 0.99543402 0.01103734 0.07608418] [ 0.08141113 -0.01880334 0.99650322 -1.45324799] [ 0. 0. 0. 1. ]] SLAMing on 95.34719347000001 meters Centerline goodness : 0.888438 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99243676 -0.08983033 -0.08366476 9.11802743] [ 0.09140685 0.99569762 0.01519961 0.07549087] [ 0.08193941 -0.02273219 0.99637803 -1.45303125] [ 0. 0. 0. 1. ]] SLAMing on 95.37719347 meters Centerline goodness : 0.892628 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99253272 -0.0887074 -0.08372448 9.11730273] [ 0.09027279 0.99580271 0.01509268 0.07873684] [ 0.08203423 -0.02253802 0.99637464 -1.45258623] [ 0. 0. 0. 1. ]] SLAMing on 95.40719347 meters Centerline goodness : 0.890387 Centerline is valid? [False, False] Translation: X:9.12, Y:0.08, Z:-1.45 [[ 0.99293805 -0.08412595 -0.08364716 9.1157856 ] [ 0.08593544 0.99613325 0.01826611 0.08160299] [ 0.08178706 -0.02532537 0.99632801 -1.4520728 ] [ 0. 0. 0. 1. ]] SLAMing on 95.43719347 meters Centerline goodness : 0.890160 Centerline is valid? [False, False] Translation: X:9.11, Y:0.09, Z:-1.45 [[ 0.9942321 -0.07381517 -0.07780655 9.1050764 ] [ 0.07559377 0.99693481 0.02016341 0.08983433] [ 0.07607969 -0.0259288 0.99676456 -1.45034781] [ 0. 0. 0. 1. ]] SLAMing on 95.46719347 meters Centerline goodness : 0.890383 Centerline is valid? [False, False] Translation: X:9.10, Y:0.09, Z:-1.45 [[ 0.99462874 -0.06876736 -0.07736102 9.10313654] [ 0.07077218 0.99721622 0.02347577 0.09161965] [ 0.0755313 -0.02882468 0.99672672 -1.45007984] [ 0. 0. 0. 1. ]] SLAMing on 95.49719347 meters Centerline goodness : 0.891379 Centerline is valid? [False, False] Translation: X:9.10, Y:0.09, Z:-1.45 [[ 0.99494265 -0.06425281 -0.07720551 9.10229327] [ 0.06651575 0.9974172 0.02710308 0.09199725] [ 0.07526465 -0.03210139 0.99664674 -1.45010019] [ 0. 0. 0. 1. ]] SLAMing on 95.52719347 meters Centerline goodness : 0.892504 Centerline is valid? [False, False] Translation: X:9.10, Y:0.10, Z:-1.45 [[ 0.9954994 -0.06200272 -0.07167015 9.10404706] [ 0.06319512 0.99789601 0.01448899 0.09780759] [ 0.070621 -0.01895298 0.99732315 -1.45116049] [ 0. 0. 0. 1. ]] SLAMing on 95.55719347 meters Centerline goodness : 0.892180 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.45 [[ 0.99546127 -0.06240012 -0.07185461 9.10519114] [ 0.06353968 0.99788552 0.01368202 0.09917161] [ 0.07084892 -0.01818554 0.99732127 -1.45237648] [ 0. 0. 0. 1. ]] SLAMing on 95.58719347 meters Centerline goodness : 0.888549 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 0.99527983 -0.0649748 -0.07208559 9.10807162] [ 0.06587355 0.99777626 0.01015879 0.1010564 ] [ 0.07126523 -0.01485937 0.99734671 -1.4552398 ] [ 0. 0. 0. 1. ]] SLAMing on 95.61719347 meters Centerline goodness : 0.885807 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 9.95020732e-01 -6.86622814e-02 -7.22442648e-02 9.11058832e+00] [ 6.92918393e-02 9.97576907e-01 6.24146953e-03 1.01497964e-01] [ 7.16406566e-02 -1.12163296e-02 9.97367440e-01 -1.45752980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64719347 meters Centerline goodness : 0.886482 Centerline is valid? [False, False] Translation: X:9.11, Y:0.10, Z:-1.46 [[ 9.94601060e-01 -7.32198474e-02 -7.35362808e-02 9.11466095e+00] [ 7.37807290e-02 9.97262271e-01 4.93633901e-03 9.67774579e-02] [ 7.29735204e-02 -1.03352484e-02 9.97280326e-01 -1.45780312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67719347 meters Centerline goodness : 0.886869 Centerline is valid? [False, False] Translation: X:9.12, Y:0.09, Z:-1.46 [[ 9.94503022e-01 -7.37213104e-02 -7.43566234e-02 9.11588350e+00] [ 7.44256483e-02 9.97203770e-01 6.74268777e-03 9.28704397e-02] [ 7.36516254e-02 -1.22396633e-02 9.97208919e-01 -1.45625780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70719347 meters Centerline goodness : 0.890830 Centerline is valid? [False, False] Translation: X:9.12, Y:0.09, Z:-1.45 [[ 9.94452719e-01 -7.38430965e-02 -7.49065157e-02 9.11648238e+00] [ 7.46874692e-02 9.97170502e-01 8.53062238e-03 8.92826609e-02] [ 7.40646403e-02 -1.40778787e-02 9.97154072e-01 -1.45471019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73719347 meters Centerline goodness : 0.888786 Centerline is valid? [False, False] Translation: X:9.12, Y:0.09, Z:-1.45 [[ 9.94139366e-01 -7.78201712e-02 -7.50396011e-02 9.11725007e+00] [ 7.84161979e-02 9.96908045e-01 5.02500823e-03 8.91219514e-02] [ 7.44165350e-02 -1.08798787e-02 9.97167893e-01 -1.45450917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76719347 meters Centerline goodness : 0.886104 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99354624 -0.07963288 -0.08077418 9.12814954] [ 0.08064473 0.99669917 0.00933769 0.08317616] [ 0.07976397 -0.01579144 0.99668869 -1.45691854] [ 0. 0. 0. 1. ]] SLAMing on 95.79719347 meters Centerline goodness : 0.886668 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99343823 -0.07996141 -0.08177192 9.13106995] [ 0.08107523 0.99665386 0.01038722 0.0806647 ] [ 0.08066773 -0.01694874 0.99659694 -1.45760899] [ 0. 0. 0. 1. ]] SLAMing on 95.82719347 meters Centerline goodness : 0.885749 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 0.99334867 -0.08054424 -0.08228635 9.13219121] [ 0.08168295 0.9966024 0.0105615 0.07962344] [ 0.08115611 -0.01721264 0.99655276 -1.45745571] [ 0. 0. 0. 1. ]] SLAMing on 95.85719347 meters Centerline goodness : 0.886568 Centerline is valid? [False, False] Translation: X:9.13, Y:0.08, Z:-1.46 [[ 9.93110407e-01 -8.40044666e-02 -8.17004886e-02 9.13166682e+00] [ 8.48678853e-02 9.96366578e-01 7.14729120e-03 7.79162844e-02] [ 8.08032319e-02 -1.40317970e-02 9.96631299e-01 -1.45720450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88719347 meters Centerline goodness : 0.886399 Centerline is valid? [False, False] Translation: X:9.13, Y:0.07, Z:-1.46 [[ 9.93126293e-01 -8.36899138e-02 -8.18300930e-02 9.13189951e+00] [ 8.46731872e-02 9.96371539e-01 8.61443910e-03 7.49467847e-02] [ 8.08122340e-02 -1.54840408e-02 9.96609064e-01 -1.45646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91719347 meters Centerline goodness : 0.889486 Centerline is valid? [False, False] Translation: X:9.13, Y:0.07, Z:-1.46 [[ 0.99308122 -0.08408404 -0.08197298 9.13233083] [ 0.08511639 0.99632877 0.00917536 0.07244939] [ 0.08090053 -0.01608912 0.99659232 -1.45611752] [ 0. 0. 0. 1. ]] SLAMing on 95.94719347 meters Centerline goodness : 0.889209 Centerline is valid? [False, False] Translation: X:9.13, Y:0.07, Z:-1.46 [[ 0.9929665 -0.08476739 -0.08265607 9.13472238] [ 0.08583024 0.99626557 0.00938491 0.07086879] [ 0.08155186 -0.01641329 0.99653394 -1.45702649] [ 0. 0. 0. 1. ]] SLAMing on 95.97719347 meters Centerline goodness : 0.885683 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92509823e-01 -8.95771139e-02 -8.30673971e-02 9.13664441e+00] [ 9.03420150e-02 9.95895678e-01 5.48803380e-03 7.16100272e-02] [ 8.22348595e-02 -1.29514035e-02 9.96528820e-01 -1.45741013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00719347 meters Centerline goodness : 0.890240 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92423035e-01 -8.98775598e-02 -8.37767480e-02 9.13790210e+00] [ 9.07132369e-02 9.95857663e-01 6.21472142e-03 7.05407494e-02] [ 8.28711525e-02 -1.37672927e-02 9.96465169e-01 -1.45686026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03719347 meters Centerline goodness : 0.884416 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92348944e-01 -9.00518350e-02 -8.44644330e-02 9.13924253e+00] [ 9.09506153e-02 9.95831871e-01 6.84619189e-03 6.96543330e-02] [ 8.34958622e-02 -1.44759034e-02 9.96402975e-01 -1.45657504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06719347 meters Centerline goodness : 0.885174 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.46 [[ 9.92324692e-01 -8.98903554e-02 -8.49201404e-02 9.14019807e+00] [ 9.08596618e-02 9.95834619e-01 7.61136295e-03 6.82060864e-02] [ 8.38822275e-02 -1.52687586e-02 9.96358689e-01 -1.45640186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09719347000001 meters Centerline goodness : 0.887037 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99241384 -0.0890143 -0.08480103 9.13942391] [ 0.09014306 0.99588286 0.00956826 0.0637909 ] [ 0.08360018 -0.01713989 0.99635196 -1.4548239 ] [ 0. 0. 0. 1. ]] SLAMing on 96.12719347 meters Centerline goodness : 0.889155 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99247741 -0.08836299 -0.08473825 9.13913866] [ 0.08953923 0.99593132 0.01017476 0.06318457] [ 0.08349441 -0.01768562 0.99635129 -1.45453259] [ 0. 0. 0. 1. ]] SLAMing on 96.15719347 meters Centerline goodness : 0.891164 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99272169 -0.08477257 -0.08554091 9.14003332] [ 0.08625144 0.99617869 0.01373671 0.06388058] [ 0.08404954 -0.02101476 0.99623996 -1.4545238 ] [ 0. 0. 0. 1. ]] SLAMing on 96.18719347 meters Centerline goodness : 0.891164 Centerline is valid? [False, False] Translation: X:9.14, Y:0.06, Z:-1.45 [[ 0.99272169 -0.08477257 -0.08554091 9.14003332] [ 0.08625144 0.99617869 0.01373671 0.06388058] [ 0.08404954 -0.02101476 0.99623996 -1.4545238 ] [ 0. 0. 0. 1. ]] SLAMing on 96.21719347 meters Centerline goodness : 0.890819 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.9932397 -0.07718329 -0.08670432 9.14015345] [ 0.0791994 0.99665707 0.02005338 0.069821 ] [ 0.08486669 -0.02678474 0.99603224 -1.45395102] [ 0. 0. 0. 1. ]] SLAMing on 96.24719347 meters Centerline goodness : 0.887708 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.99335581 -0.07642235 -0.08604573 9.13851376] [ 0.07834718 0.99674095 0.01921472 0.07276549] [ 0.08429687 -0.0258285 0.99610588 -1.45371346] [ 0. 0. 0. 1. ]] SLAMing on 96.27719347 meters Centerline goodness : 0.886768 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.9934808 -0.07558757 -0.0853371 9.13722692] [ 0.07744739 0.99682119 0.01869291 0.07389454] [ 0.08365287 -0.02518018 0.99617677 -1.45407253] [ 0. 0. 0. 1. ]] SLAMing on 96.30719347 meters Centerline goodness : 0.892036 Centerline is valid? [False, False] Translation: X:9.14, Y:0.07, Z:-1.45 [[ 0.99358983 -0.07498213 -0.08459864 9.13612153] [ 0.07676599 0.99688611 0.01802939 0.07457452] [ 0.08298333 -0.02440811 0.99625198 -1.45473865] [ 0. 0. 0. 1. ]] SLAMing on 96.33719347 meters Centerline goodness : 0.891509 Centerline is valid? [False, False] Translation: X:9.14, Y:0.08, Z:-1.45 [[ 0.99433173 -0.06874954 -0.08110432 9.13960134] [ 0.06988289 0.99749215 0.01121577 0.0795617 ] [ 0.08012985 -0.01682 0.99664251 -1.45385968] [ 0. 0. 0. 1. ]] SLAMing on 96.36719347 meters Centerline goodness : 0.894261 Centerline is valid? [False, False] Translation: X:9.14, Y:0.08, Z:-1.45 [[ 0.99453847 -0.06511987 -0.08156369 9.13971388] [ 0.06647681 0.99768933 0.0140301 0.08263882] [ 0.08046158 -0.01937557 0.99656938 -1.45382244] [ 0. 0. 0. 1. ]] SLAMing on 96.39719347 meters Centerline goodness : 0.893499 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.45 [[ 0.99460375 -0.06451881 -0.08124473 9.13919063] [ 0.06573433 0.99776044 0.01237367 0.08783787] [ 0.08026444 -0.01764747 0.99661737 -1.45480615] [ 0. 0. 0. 1. ]] SLAMing on 96.42719347 meters Centerline goodness : 0.892831 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.46 [[ 0.99474455 -0.06256934 -0.08104547 9.14074173] [ 0.06368579 0.99790645 0.01126205 0.09244494] [ 0.08017113 -0.01636431 0.99664678 -1.45821473] [ 0. 0. 0. 1. ]] SLAMing on 96.45719347 meters Centerline goodness : 0.891500 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.46 [[ 9.94624144e-01 -6.56081635e-02 -8.01147948e-02 9.14063836e+00] [ 6.63338379e-02 9.97776784e-01 6.42745808e-03 9.39727000e-02] [ 7.95149885e-02 -1.17072268e-02 9.96764921e-01 -1.46037619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48719347 meters Centerline goodness : 0.893679 Centerline is valid? [False, False] Translation: X:9.14, Y:0.09, Z:-1.46 [[ 9.94653436e-01 -6.52973772e-02 -8.00049715e-02 9.14159281e+00] [ 6.60426394e-02 9.97794294e-01 6.70193006e-03 9.28469205e-02] [ 7.93908856e-02 -1.19498372e-02 9.96771934e-01 -1.46175458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51719347 meters Centerline goodness : 0.894283 Centerline is valid? [False, False] Translation: X:9.15, Y:0.09, Z:-1.46 [[ 9.94630691e-01 -6.45757313e-02 -8.08687986e-02 9.14501188e+00] [ 6.54094519e-02 9.97828796e-01 7.70042437e-03 9.13964735e-02] [ 8.01959554e-02 -1.29486622e-02 9.96695009e-01 -1.46370886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54719347 meters Centerline goodness : 0.893391 Centerline is valid? [False, False] Translation: X:9.15, Y:0.09, Z:-1.46 [[ 9.94563102e-01 -6.48737944e-02 -8.14593579e-02 9.14651518e+00] [ 6.57243267e-02 9.97807327e-01 7.80073570e-03 9.11817879e-02] [ 8.07746808e-02 -1.31121854e-02 9.96646137e-01 -1.46399596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57719347 meters Centerline goodness : 0.892643 Centerline is valid? [False, False] Translation: X:9.15, Y:0.09, Z:-1.46 [[ 9.94523631e-01 -6.49612022e-02 -8.18705615e-02 9.14784351e+00] [ 6.58633597e-02 9.97793593e-01 8.36437718e-03 8.96790835e-02] [ 8.11465618e-02 -1.37108410e-02 9.96607871e-01 -1.46434284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60719347 meters Centerline goodness : 0.892528 Centerline is valid? [False, False] Translation: X:9.15, Y:0.08, Z:-1.46 [[ 0.99453569 -0.06426775 -0.08227042 9.14852492] [ 0.065445 0.99778769 0.01169095 0.08256733] [ 0.08133706 -0.01701126 0.99654147 -1.4628844 ] [ 0. 0. 0. 1. ]] SLAMing on 96.63719347 meters Centerline goodness : 0.894552 Centerline is valid? [False, False] Translation: X:9.16, Y:0.08, Z:-1.47 [[ 0.99482269 -0.06961584 -0.07403685 9.15850633] [ 0.07069704 0.99742467 0.01208127 0.0800158 ] [ 0.07300513 -0.01725291 0.99718232 -1.46681951] [ 0. 0. 0. 1. ]] SLAMing on 96.66719347 meters Centerline goodness : 0.895224 Centerline is valid? [False, False] Translation: X:9.16, Y:0.08, Z:-1.47 [[ 0.99459094 -0.07303732 -0.07385403 9.15932895] [ 0.07396448 0.99721179 0.00989412 0.07569871] [ 0.07292547 -0.01530318 0.99721998 -1.46698248] [ 0. 0. 0. 1. ]] SLAMing on 96.69719347 meters Centerline goodness : 0.894598 Centerline is valid? [False, False] Translation: X:9.16, Y:0.07, Z:-1.47 [[ 9.94314350e-01 -7.65520929e-02 -7.40185807e-02 9.16098755e+00] [ 7.73483258e-02 9.96972458e-01 7.94695050e-03 7.11650008e-02] [ 7.31861306e-02 -1.36269802e-02 9.97225198e-01 -1.46715923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72719347 meters Centerline goodness : 0.898939 Centerline is valid? [False, False] Translation: X:9.16, Y:0.06, Z:-1.46 [[ 9.93711591e-01 -8.43547655e-02 -7.36311636e-02 9.16092754e+00] [ 8.48582983e-02 9.96386042e-01 3.73162125e-03 6.42443756e-02] [ 7.30502836e-02 -9.95637053e-03 9.97278560e-01 -1.46492454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75719347 meters Centerline goodness : 0.900123 Centerline is valid? [False, False] Translation: X:9.16, Y:0.06, Z:-1.46 [[ 9.93553745e-01 -8.53047910e-02 -7.46595498e-02 9.16261203e+00] [ 8.59825357e-02 9.96279143e-01 5.90529006e-03 5.90762243e-02] [ 7.38780028e-02 -1.22866405e-02 9.97191596e-01 -1.46318821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78719347 meters Centerline goodness : 0.900075 Centerline is valid? [False, False] Translation: X:9.16, Y:0.05, Z:-1.46 [[ 9.93376695e-01 -8.64182609e-02 -7.57273079e-02 9.16413333e+00] [ 8.72553657e-02 9.96155362e-01 7.81003577e-03 5.40284133e-02] [ 7.47612340e-02 -1.43659215e-02 9.97097978e-01 -1.46117008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81719347 meters Centerline goodness : 0.901713 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92519235e-01 -9.55910940e-02 -7.59467582e-02 9.16589774e+00] [ 9.59612364e-02 9.95384310e-01 1.23109647e-03 5.06859588e-02] [ 7.54785297e-02 -8.50983175e-03 9.97111114e-01 -1.46023908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84719347000001 meters Centerline goodness : 0.898047 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92378069e-01 -9.64316421e-02 -7.67248810e-02 9.16800322e+00] [ 9.68495837e-02 9.95297515e-01 1.73645286e-03 4.85295297e-02] [ 7.61966344e-02 -9.15399052e-03 9.97050790e-01 -1.46052337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87719347 meters Centerline goodness : 0.900462 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92273006e-01 -9.69500119e-02 -7.74272333e-02 9.17028024e+00] [ 9.74042307e-02 9.95242681e-01 2.10260643e-03 4.69787685e-02] [ 7.68550396e-02 -9.62809969e-03 9.96995789e-01 -1.46134180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90719347 meters Centerline goodness : 0.896902 Centerline is valid? [False, False] Translation: X:9.17, Y:0.05, Z:-1.46 [[ 9.92198671e-01 -9.72277195e-02 -7.80292783e-02 9.17216810e+00] [ 9.76953345e-02 9.95213962e-01 2.18888480e-03 4.65152947e-02] [ 7.74430069e-02 -9.79490504e-03 9.96948665e-01 -1.46209083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93719347 meters Centerline goodness : 0.895492 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.47 [[ 9.92232544e-01 -9.64006462e-02 -7.86224716e-02 9.17531948e+00] [ 9.68321945e-02 9.95299293e-01 1.68602753e-03 4.96011746e-02] [ 7.80903563e-02 -9.28611785e-03 9.96903037e-01 -1.46504050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96719347 meters Centerline goodness : 0.897789 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.47 [[ 9.92557406e-01 -9.24963559e-02 -7.92099701e-02 9.17598901e+00] [ 9.31959333e-02 9.95634349e-01 5.17314642e-03 5.08139100e-02] [ 7.83856699e-02 -1.25166919e-02 9.96844531e-01 -1.46546789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99719347 meters Centerline goodness : 0.898753 Centerline is valid? [False, False] Translation: X:9.18, Y:0.05, Z:-1.47 [[ 9.92855241e-01 -8.85170544e-02 -8.00200083e-02 9.17673710e+00] [ 8.94964674e-02 9.95948879e-01 8.73001130e-03 5.23366403e-02] [ 7.89230827e-02 -1.58291455e-02 9.96755028e-01 -1.46534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02719347 meters Centerline goodness : 0.898197 Centerline is valid? [False, False] Translation: X:9.18, Y:0.06, Z:-1.46 [[ 0.99320153 -0.08421105 -0.08036925 9.17524746] [ 0.08541488 0.99627731 0.01165415 0.05674924] [ 0.07908865 -0.01843965 0.99669703 -1.46394506] [ 0. 0. 0. 1. ]] SLAMing on 97.05719347 meters Centerline goodness : 0.898352 Centerline is valid? [False, False] Translation: X:9.17, Y:0.06, Z:-1.46 [[ 0.99342695 -0.08142156 -0.08045757 9.17363867] [ 0.08281901 0.99646369 0.01418152 0.05857728] [ 0.07901836 -0.02075172 0.99665714 -1.4624739 ] [ 0. 0. 0. 1. ]] SLAMing on 97.08719347 meters Centerline goodness : 0.898605 Centerline is valid? [False, False] Translation: X:9.17, Y:0.06, Z:-1.46 [[ 0.99349836 -0.08092635 -0.08007455 9.1718146 ] [ 0.08225275 0.99652139 0.0134016 0.0623252 ] [ 0.07871146 -0.01990082 0.99669878 -1.46156861] [ 0. 0. 0. 1. ]] SLAMing on 97.11719347 meters Centerline goodness : 0.898212 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99379451 -0.07773303 -0.07956161 9.16858156] [ 0.07918117 0.99674425 0.01520662 0.06649105] [ 0.07812052 -0.02141204 0.99671396 -1.45974211] [ 0. 0. 0. 1. ]] SLAMing on 97.14719347 meters Centerline goodness : 0.898986 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99397739 -0.07504642 -0.07985599 9.16985343] [ 0.07665515 0.99690809 0.01726983 0.06713789] [ 0.07831305 -0.02328719 0.9966568 -1.46092917] [ 0. 0. 0. 1. ]] SLAMing on 97.17719347 meters Centerline goodness : 0.897924 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99401353 -0.0749313 -0.07951359 9.1695511 ] [ 0.07644866 0.99694175 0.01620925 0.06924185] [ 0.07805583 -0.02219092 0.99670199 -1.46179183] [ 0. 0. 0. 1. ]] SLAMing on 97.20719347 meters Centerline goodness : 0.895905 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.99409664 -0.07415374 -0.07920282 9.16933835] [ 0.07559216 0.99702119 0.01531581 0.07190591] [ 0.07783116 -0.02121251 0.99674086 -1.46274592] [ 0. 0. 0. 1. ]] SLAMing on 97.23719347 meters Centerline goodness : 0.900746 Centerline is valid? [False, False] Translation: X:9.17, Y:0.07, Z:-1.46 [[ 0.994099 -0.07423871 -0.07909362 9.16899542] [ 0.07561582 0.99703077 0.0145565 0.07401906] [ 0.07777811 -0.02045133 0.99676091 -1.46277874] [ 0. 0. 0. 1. ]] SLAMing on 97.26719347 meters Centerline goodness : 0.899359 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.46 [[ 0.99408327 -0.07430452 -0.07922941 9.16924437] [ 0.07562528 0.99704084 0.01379777 0.07659659] [ 0.07796972 -0.01970788 0.99676092 -1.46308128] [ 0. 0. 0. 1. ]] SLAMing on 97.29719347 meters Centerline goodness : 0.901245 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.47 [[ 0.99408123 -0.07320545 -0.08027122 9.17263265] [ 0.07458269 0.99711242 0.01429142 0.07916261] [ 0.07899322 -0.02019368 0.9966706 -1.46508351] [ 0. 0. 0. 1. ]] SLAMing on 97.32719347 meters Centerline goodness : 0.892586 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.47 [[ 0.99401694 -0.07382717 -0.08049765 9.17294135] [ 0.07507202 0.9970992 0.01254503 0.08355718] [ 0.07933798 -0.01851309 0.99667585 -1.46540754] [ 0. 0. 0. 1. ]] SLAMing on 97.35719347 meters Centerline goodness : 0.893505 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.47 [[ 0.99403213 -0.07353738 -0.08057531 9.17291272] [ 0.07481172 0.99711413 0.01290824 0.08339521] [ 0.07939354 -0.01885918 0.99666494 -1.465089 ] [ 0. 0. 0. 1. ]] SLAMing on 97.38719347 meters Centerline goodness : 0.892803 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.46 [[ 0.99399282 -0.07391192 -0.08071737 9.17316715] [ 0.07516972 0.99709048 0.0126526 0.08329335] [ 0.07954734 -0.01864409 0.99665672 -1.46486695] [ 0. 0. 0. 1. ]] SLAMing on 97.41719347 meters Centerline goodness : 0.891944 Centerline is valid? [False, False] Translation: X:9.17, Y:0.08, Z:-1.46 [[ 0.99377182 -0.07597649 -0.0815178 9.17447586] [ 0.07723337 0.99693626 0.01237307 0.08297223] [ 0.08032799 -0.0185919 0.99659508 -1.46378691] [ 0. 0. 0. 1. ]] SLAMing on 97.44719347 meters Centerline goodness : 0.893762 Centerline is valid? [False, False] Translation: X:9.18, Y:0.08, Z:-1.46 [[ 0.99352972 -0.07787867 -0.08266561 9.17750615] [ 0.07912308 0.99679405 0.01188077 0.08266569] [ 0.08147533 -0.01834465 0.99650652 -1.46412743] [ 0. 0. 0. 1. ]] SLAMing on 97.47719347 meters Centerline goodness : 0.892109 Centerline is valid? [False, False] Translation: X:9.18, Y:0.08, Z:-1.47 [[ 9.93103087e-01 -8.29647107e-02 -8.28439276e-02 9.17932404e+00] [ 8.38222199e-02 9.96456690e-01 6.92101845e-03 8.46483969e-02] [ 8.19761856e-02 -1.38174467e-02 9.96538501e-01 -1.46524432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50719347 meters Centerline goodness : 0.890169 Centerline is valid? [False, False] Translation: X:9.18, Y:0.08, Z:-1.47 [[ 9.92873346e-01 -8.42123866e-02 -8.43255216e-02 9.18448108e+00] [ 8.50651655e-02 9.96353761e-01 6.56512310e-03 8.49614049e-02] [ 8.34651859e-02 -1.36915002e-02 9.96416633e-01 -1.46758728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53719347 meters Centerline goodness : 0.889108 Centerline is valid? [False, False] Translation: X:9.19, Y:0.09, Z:-1.47 [[ 9.92424968e-01 -8.77437970e-02 -8.59866781e-02 9.18861205e+00] [ 8.84098739e-02 9.96076302e-01 3.96165430e-03 9.01781799e-02] [ 8.53016818e-02 -1.15337160e-02 9.96288410e-01 -1.46849990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56719347 meters Centerline goodness : 0.891401 Centerline is valid? [False, False] Translation: X:9.19, Y:0.09, Z:-1.47 [[ 9.92292844e-01 -8.86613117e-02 -8.65683723e-02 9.18944029e+00] [ 8.92484535e-02 9.96005090e-01 2.92813599e-03 9.29197380e-02] [ 8.59629271e-02 -1.06316617e-02 9.96241609e-01 -1.46819196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59719347000001 meters Centerline goodness : 0.889663 Centerline is valid? [False, False] Translation: X:9.19, Y:0.09, Z:-1.47 [[ 9.92432366e-01 -8.60826934e-02 -8.75658014e-02 9.19062316e+00] [ 8.69558492e-02 9.96192878e-01 6.19914381e-03 9.31627194e-02] [ 8.66987887e-02 -1.37665896e-02 9.96139449e-01 -1.46768878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62719347 meters Centerline goodness : 0.891495 Centerline is valid? [False, False] Translation: X:9.19, Y:0.10, Z:-1.47 [[ 9.92419605e-01 -8.60445632e-02 -8.77477141e-02 9.19098662e+00] [ 8.68330606e-02 9.96209296e-01 5.20170695e-03 9.61398527e-02] [ 8.69675099e-02 -1.27816785e-02 9.96129149e-01 -1.46799663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65719347 meters Centerline goodness : 0.892940 Centerline is valid? [False, False] Translation: X:9.19, Y:0.10, Z:-1.47 [[ 0.99285425 -0.08009578 -0.08845962 9.19030622] [ 0.08125279 0.99664776 0.00955118 0.10304999] [ 0.08739807 -0.01667052 0.99603397 -1.46746046] [ 0. 0. 0. 1. ]] SLAMing on 97.68719347 meters Centerline goodness : 0.890243 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:-1.47 [[ 0.99303042 -0.07710578 -0.08913634 9.19089296] [ 0.07844025 0.99685178 0.01156115 0.10732831] [ 0.08796429 -0.01847245 0.99595233 -1.46763625] [ 0. 0. 0. 1. ]] SLAMing on 97.71719347 meters Centerline goodness : 0.890720 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:-1.47 [[ 9.93065170e-01 -7.71813167e-02 -8.86826558e-02 9.18967609e+00] [ 7.82914017e-02 9.96888958e-01 9.10281336e-03 1.13620884e-01] [ 8.77041932e-02 -1.59827763e-02 9.96018336e-01 -1.46809571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74719347 meters Centerline goodness : 0.891828 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:-1.47 [[ 9.93599140e-01 -7.27757040e-02 -8.63970303e-02 9.18446975e+00] [ 7.37511490e-02 9.97243387e-01 8.14829738e-03 1.22615013e-01] [ 8.55658690e-02 -1.44680215e-02 9.96227463e-01 -1.46764937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77719347 meters Centerline goodness : 0.890863 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:-1.47 [[ 9.93761324e-01 -7.19182015e-02 -8.52420324e-02 9.18203114e+00] [ 7.27103294e-02 9.97333701e-01 6.22072341e-03 1.26836727e-01] [ 8.45673683e-02 -1.23798906e-02 9.96340855e-01 -1.46806996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80719347 meters Centerline goodness : 0.894323 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:-1.47 [[ 9.93947388e-01 -7.00148253e-02 -8.46552640e-02 9.18128983e+00] [ 7.07589746e-02 9.97476473e-01 5.81838528e-03 1.30539718e-01] [ 8.40342609e-02 -1.17732885e-02 9.96393312e-01 -1.46935696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83719347 meters Centerline goodness : 0.892802 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:-1.47 [[ 0.99415376 -0.06539009 -0.08592106 9.18412752] [ 0.06648418 0.99773805 0.00993143 0.13265556] [ 0.08507729 -0.01558576 0.99625245 -1.47060971] [ 0. 0. 0. 1. ]] SLAMing on 97.86719347 meters Centerline goodness : 0.889934 Centerline is valid? [False, False] Translation: X:9.18, Y:0.14, Z:-1.47 [[ 0.99435694 -0.06172723 -0.08627875 9.18434379] [ 0.06295572 0.99794904 0.01158839 0.13879728] [ 0.08538648 -0.01695474 0.99620364 -1.47140425] [ 0. 0. 0. 1. ]] SLAMing on 97.89719347 meters Centerline goodness : 0.890179 Centerline is valid? [False, False] Translation: X:9.19, Y:0.14, Z:-1.48 [[ 9.95061741e-01 -6.49245147e-02 -7.50795494e-02 9.18996840e+00] [ 6.56261029e-02 9.97820337e-01 6.91297494e-03 1.44800761e-01] [ 7.44670798e-02 -1.18060151e-02 9.97153585e-01 -1.47526648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92719347 meters Centerline goodness : 0.889098 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95145233e-01 -6.43527976e-02 -7.44626217e-02 9.18876234e+00] [ 6.49821149e-02 9.97868044e-01 6.05728880e-03 1.46310296e-01] [ 7.39140672e-02 -1.08666207e-02 9.97205409e-01 -1.47567893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95719347 meters Centerline goodness : 0.887180 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95381755e-01 -6.21536286e-02 -7.31579662e-02 9.18760427e+00] [ 6.26576179e-02 9.98024424e-01 4.61207760e-03 1.49048623e-01] [ 7.27267797e-02 -9.17468179e-03 9.97309702e-01 -1.47865065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98719347 meters Centerline goodness : 0.892058 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95440338e-01 -6.17144043e-02 -7.27314624e-02 9.18740307e+00] [ 6.21166844e-02 9.98063505e-01 3.27999202e-03 1.51438844e-01] [ 7.23881955e-02 -7.78287365e-03 9.97346167e-01 -1.48009692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01719347 meters Centerline goodness : 0.889380 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95550849e-01 -5.84613392e-02 -7.38970882e-02 9.19031953e+00] [ 5.91372763e-02 9.98225384e-01 6.99043659e-03 1.51605447e-01] [ 7.33572790e-02 -1.13294076e-02 9.97241372e-01 -1.48131244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04719347 meters Centerline goodness : 0.891052 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95400604e-01 -5.98263734e-02 -7.48227470e-02 9.19218486e+00] [ 6.04515360e-02 9.98152393e-01 6.11655836e-03 1.53846560e-01] [ 7.43185724e-02 -1.06115759e-02 9.97178091e-01 -1.48135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07719347 meters Centerline goodness : 0.891052 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95400604e-01 -5.98263734e-02 -7.48227470e-02 9.19218486e+00] [ 6.04515360e-02 9.98152393e-01 6.11655836e-03 1.53846560e-01] [ 7.43185724e-02 -1.06115759e-02 9.97178091e-01 -1.48135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10719347 meters Centerline goodness : 0.890438 Centerline is valid? [False, False] Translation: X:9.19, Y:0.15, Z:-1.48 [[ 9.95287004e-01 -6.09478856e-02 -7.54263598e-02 9.19350437e+00] [ 6.15685168e-02 9.98085253e-01 5.92841473e-03 1.53795936e-01] [ 7.49206131e-02 -1.05443632e-02 9.97133751e-01 -1.48115326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13719347 meters Centerline goodness : 0.887156 Centerline is valid? [False, False] Translation: X:9.20, Y:0.16, Z:-1.49 [[ 9.95214825e-01 -6.81232443e-02 -7.00476686e-02 9.20389584e+00] [ 6.88573409e-02 9.97593499e-01 8.11648480e-03 1.55345036e-01] [ 6.93261776e-02 -1.29009422e-02 9.97510625e-01 -1.48509224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16719347 meters Centerline goodness : 0.885426 Centerline is valid? [False, False] Translation: X:9.21, Y:0.15, Z:-1.48 [[ 9.95064348e-01 -6.96506219e-02 -7.06805094e-02 9.20536796e+00] [ 7.04199730e-02 9.97481649e-01 8.44911031e-03 1.53505391e-01] [ 6.99140253e-02 -1.33847280e-02 9.97463221e-01 -1.48454376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19719347 meters Centerline goodness : 0.887782 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.49 [[ 0.99460267 -0.07952941 -0.06663778 9.21915288] [ 0.08042707 0.99670096 0.01089382 0.15177462] [ 0.06555156 -0.01619451 0.99771776 -1.48792319] [ 0. 0. 0. 1. ]] SLAMing on 98.22719347 meters Centerline goodness : 0.885426 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.49 [[ 0.99434131 -0.0818364 -0.06773593 9.22124158] [ 0.08278088 0.99650425 0.01125151 0.14998385] [ 0.06657836 -0.01679508 0.99763984 -1.48669591] [ 0. 0. 0. 1. ]] SLAMing on 98.25719347 meters Centerline goodness : 0.885428 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.49 [[ 0.99416017 -0.08313178 -0.06880893 9.22294744] [ 0.08417223 0.9963746 0.01235708 0.1480262 ] [ 0.06753221 -0.01807671 0.99755332 -1.48521198] [ 0. 0. 0. 1. ]] SLAMing on 98.28719347 meters Centerline goodness : 0.887159 Centerline is valid? [False, False] Translation: X:9.22, Y:0.15, Z:-1.48 [[ 0.99358593 -0.08892227 -0.06985581 9.22411192] [ 0.08984456 0.9959039 0.01016752 0.14630653] [ 0.06866556 -0.01637847 0.99750528 -1.48192255] [ 0. 0. 0. 1. ]] SLAMing on 98.31719347 meters Centerline goodness : 0.886016 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.93167733e-01 -9.34116971e-02 -6.99436162e-02 9.22504220e+00] [ 9.40634831e-02 9.95547656e-01 6.07661018e-03 1.47378370e-01] [ 6.90645767e-02 -1.26142333e-02 9.97532438e-01 -1.48191873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34719347000001 meters Centerline goodness : 0.885844 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.92923171e-01 -9.49481337e-02 -7.13332250e-02 9.22848650e+00] [ 9.56218658e-02 9.95399148e-01 6.08236554e-03 1.47287813e-01] [ 7.04275221e-02 -1.28603377e-02 9.97433996e-01 -1.48240200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37719347 meters Centerline goodness : 0.882588 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.92712544e-01 -9.62328681e-02 -7.25330304e-02 9.23157223e+00] [ 9.69069654e-02 9.95276402e-01 5.82434486e-03 1.47771254e-01] [ 7.16299202e-02 -1.28108561e-02 9.97349004e-01 -1.48307411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40719347 meters Centerline goodness : 0.885562 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 9.92565433e-01 -9.75406491e-02 -7.27989185e-02 9.23204877e+00] [ 9.81771537e-02 9.95155325e-01 5.20821985e-03 1.48003285e-01] [ 7.19382182e-02 -1.23166896e-02 9.97333040e-01 -1.48267662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43719347 meters Centerline goodness : 0.882125 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 0.99279861 -0.09441923 -0.07372879 9.23298543] [ 0.09537877 0.9953948 0.00959598 0.14677214] [ 0.07248321 -0.01655904 0.99723216 -1.48188663] [ 0. 0. 0. 1. ]] SLAMing on 98.46719347 meters Centerline goodness : 0.884377 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 0.992778 -0.09448171 -0.07392591 9.23285631] [ 0.09542699 0.99539249 0.00935309 0.14844496] [ 0.0727016 -0.01634007 0.99721987 -1.48124011] [ 0. 0. 0. 1. ]] SLAMing on 98.49719347 meters Centerline goodness : 0.883652 Centerline is valid? [False, False] Translation: X:9.23, Y:0.15, Z:-1.48 [[ 0.9927496 -0.09365358 -0.07534747 9.23318794] [ 0.09480555 0.99542525 0.01185217 0.15223862] [ 0.07389278 -0.0189096 0.9970869 -1.47865343] [ 0. 0. 0. 1. ]] SLAMing on 98.52719347 meters Centerline goodness : 0.882728 Centerline is valid? [False, False] Translation: X:9.23, Y:0.16, Z:-1.48 [[ 0.99257527 -0.09473197 -0.07629012 9.23470161] [ 0.09584935 0.99533382 0.01111237 0.15546583] [ 0.07488144 -0.01834222 0.99702374 -1.47830174] [ 0. 0. 0. 1. ]] SLAMing on 98.55719347 meters Centerline goodness : 0.882391 Centerline is valid? [False, False] Translation: X:9.24, Y:0.16, Z:-1.48 [[ 0.99236357 -0.09608779 -0.07734138 9.23688532] [ 0.09714642 0.99521951 0.01003505 0.15866506] [ 0.07600741 -0.01747186 0.99695417 -1.47857098] [ 0. 0. 0. 1. ]] SLAMing on 98.58719347 meters Centerline goodness : 0.885655 Centerline is valid? [False, False] Translation: X:9.24, Y:0.17, Z:-1.48 [[ 9.91916335e-01 -9.87910522e-02 -7.96386395e-02 9.24329094e+00] [ 9.96893899e-02 9.94991277e-01 7.37454870e-03 1.65838063e-01] [ 7.85112122e-02 -1.52540627e-02 9.96796520e-01 -1.48165300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61719347 meters Centerline goodness : 0.885177 Centerline is valid? [False, False] Translation: X:9.25, Y:0.17, Z:-1.48 [[ 9.91761964e-01 -9.93406542e-02 -8.08680469e-02 9.24703959e+00] [ 1.00173781e-01 9.94950003e-01 6.30115462e-03 1.70277093e-01] [ 7.98337028e-02 -1.43501035e-02 9.96704898e-01 -1.48377407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64719347 meters Centerline goodness : 0.884252 Centerline is valid? [False, False] Translation: X:9.25, Y:0.17, Z:-1.48 [[ 9.91842446e-01 -9.72364962e-02 -8.24234605e-02 9.25012728e+00] [ 9.82530735e-02 9.95126355e-01 8.35888955e-03 1.74414565e-01] [ 8.12089687e-02 -1.63890598e-02 9.96562342e-01 -1.48493304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67719347 meters Centerline goodness : 0.884527 Centerline is valid? [False, False] Translation: X:9.25, Y:0.19, Z:-1.49 [[ 9.91879899e-01 -9.54136646e-02 -8.40862544e-02 9.25176508e+00] [ 9.63764848e-02 9.95317016e-01 7.45727168e-03 1.88614953e-01] [ 8.29809542e-02 -1.55006555e-02 9.96430575e-01 -1.48530378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70719347 meters Centerline goodness : 0.887313 Centerline is valid? [False, False] Translation: X:9.25, Y:0.20, Z:-1.49 [[ 9.92076666e-01 -9.28980810e-02 -8.45803428e-02 9.25129153e+00] [ 9.39258177e-02 9.95545055e-01 8.24526047e-03 1.95384453e-01] [ 8.34375732e-02 -1.61242084e-02 9.96382548e-01 -1.48512568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73719347 meters Centerline goodness : 0.885174 Centerline is valid? [False, False] Translation: X:9.25, Y:0.20, Z:-1.49 [[ 0.99232928 -0.08926494 -0.08552409 9.25235993] [ 0.09044781 0.99585049 0.01004959 0.20179381] [ 0.08427214 -0.01770797 0.99628542 -1.48588055] [ 0. 0. 0. 1. ]] SLAMing on 98.76719347 meters Centerline goodness : 0.888599 Centerline is valid? [False, False] Translation: X:9.25, Y:0.22, Z:-1.48 [[ 9.92891268e-01 -8.52791571e-02 -8.30324953e-02 9.24698283e+00] [ 8.59083624e-02 9.96294899e-01 4.02822635e-03 2.18786195e-01] [ 8.23813278e-02 -1.11327765e-02 9.96538699e-01 -1.48458222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79719347 meters Centerline goodness : 0.886717 Centerline is valid? [False, False] Translation: X:9.25, Y:0.23, Z:-1.48 [[ 9.93053099e-01 -8.25670579e-02 -8.38345060e-02 9.24699216e+00] [ 8.32800143e-02 9.96513455e-01 5.03721072e-03 2.25702508e-01] [ 8.31263056e-02 -1.19839566e-02 9.96466960e-01 -1.48414436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82719347 meters Centerline goodness : 0.886152 Centerline is valid? [False, False] Translation: X:9.26, Y:0.24, Z:-1.49 [[ 9.93521253e-01 -8.46876350e-02 -7.57860462e-02 9.25598899e+00] [ 8.51152476e-02 9.96368163e-01 2.42450982e-03 2.36382086e-01] [ 7.53054777e-02 -8.85935012e-03 9.97121155e-01 -1.48502763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85719347 meters Centerline goodness : 0.888255 Centerline is valid? [False, False] Translation: X:9.26, Y:0.24, Z:-1.48 [[ 9.93663463e-01 -8.22928156e-02 -7.65559619e-02 9.25594442e+00] [ 8.28246841e-02 9.96556914e-01 3.79314752e-03 2.42292923e-01] [ 7.59802244e-02 -1.01098355e-02 9.97058071e-01 -1.48429856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88719347 meters Centerline goodness : 0.889369 Centerline is valid? [False, False] Translation: X:9.25, Y:0.25, Z:-1.48 [[ 9.93696485e-01 -8.21762913e-02 -7.62519091e-02 9.25454787e+00] [ 8.25211611e-02 9.96588360e-01 1.37770094e-03 2.48544376e-01] [ 7.58785507e-02 -7.66141266e-03 9.97087633e-01 -1.48423562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91719347 meters Centerline goodness : 0.893828 Centerline is valid? [False, False] Translation: X:9.26, Y:0.26, Z:-1.49 [[ 9.93882391e-01 -7.91017116e-02 -7.70760164e-02 9.25557470e+00] [ 7.93904526e-02 9.96843362e-01 6.84476989e-04 2.59096228e-01] [ 7.67785720e-02 -6.79938945e-03 9.97024984e-01 -1.48576122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94719347 meters Centerline goodness : 0.893198 Centerline is valid? [False, False] Translation: X:9.26, Y:0.27, Z:-1.49 [[ 9.94414925e-01 -8.18240323e-02 -6.66617193e-02 9.26100403e+00] [ 8.17204957e-02 9.96646083e-01 -4.28312897e-03 2.68520217e-01] [ 6.67886043e-02 -1.18842137e-03 9.97766441e-01 -1.48876560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97719347 meters Centerline goodness : 0.894928 Centerline is valid? [False, False] Translation: X:9.26, Y:0.27, Z:-1.49 [[ 9.94701766e-01 -7.70193091e-02 -6.80912834e-02 9.26322829e+00] [ 7.72027647e-02 9.97015411e-01 6.29798114e-05 2.73124891e-01] [ 6.78832082e-02 -5.31948146e-03 9.97679093e-01 -1.48945674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00719347 meters Centerline goodness : 0.893930 Centerline is valid? [False, False] Translation: X:9.26, Y:0.28, Z:-1.49 [[ 9.95026169e-01 -7.17873634e-02 -6.90615475e-02 9.26479526e+00] [ 7.22422293e-02 9.97378655e-01 4.10828711e-03 2.77559723e-01] [ 6.85855903e-02 -9.07701334e-03 9.97603942e-01 -1.48986456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03719347 meters Centerline goodness : 0.893189 Centerline is valid? [False, False] Translation: X:9.26, Y:0.29, Z:-1.49 [[ 0.99553657 -0.06388957 -0.0694627 9.26404616] [ 0.06470504 0.99785872 0.00955137 0.28565352] [ 0.06870373 -0.01400332 0.99753882 -1.48886349] [ 0. 0. 0. 1. ]] SLAMing on 99.06719347 meters Centerline goodness : 0.894234 Centerline is valid? [False, False] Translation: X:9.27, Y:0.29, Z:-1.49 [[ 0.99555858 -0.06276829 -0.07016586 9.2666256 ] [ 0.06359114 0.99793031 0.00955339 0.28937621] [ 0.06942099 -0.01397288 0.99748959 -1.49020618] [ 0. 0. 0. 1. ]] SLAMing on 99.09719347000001 meters Centerline goodness : 0.894603 Centerline is valid? [False, False] Translation: X:9.27, Y:0.29, Z:-1.49 [[ 0.99557286 -0.06172847 -0.07088214 9.2693824 ] [ 0.0625671 0.99799391 0.00967048 0.29218892] [ 0.070143 -0.01406256 0.99743782 -1.49166559] [ 0. 0. 0. 1. ]] SLAMing on 99.12719347 meters Centerline goodness : 0.895601 Centerline is valid? [False, False] Translation: X:9.27, Y:0.30, Z:-1.49 [[ 0.99557427 -0.06110395 -0.07140157 9.27041958] [ 0.06192835 0.99803645 0.00938769 0.29772639] [ 0.07068775 -0.01376793 0.99740347 -1.49193793] [ 0. 0. 0. 1. ]] SLAMing on 99.15719347 meters Centerline goodness : 0.895003 Centerline is valid? [False, False] Translation: X:9.27, Y:0.30, Z:-1.49 [[ 0.99554934 -0.06108139 -0.07176756 9.27149823] [ 0.06190609 0.99803845 0.00932174 0.29880727] [ 0.0710574 -0.0137231 0.99737782 -1.49241009] [ 0. 0. 0. 1. ]] SLAMing on 99.18719347 meters Centerline goodness : 0.894275 Centerline is valid? [False, False] Translation: X:9.27, Y:0.30, Z:-1.49 [[ 0.99551397 -0.06106878 -0.07226713 9.27323965] [ 0.061919 0.99803518 0.0095816 0.29834506] [ 0.07154 -0.01401333 0.99733929 -1.49338501] [ 0. 0. 0. 1. ]] SLAMing on 99.21719347 meters Centerline goodness : 0.893842 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.49 [[ 9.95272001e-01 -6.42112364e-02 -7.28736034e-02 9.27621832e+00] [ 6.48510420e-02 9.97874140e-01 6.44532417e-03 2.99290321e-01] [ 7.23048222e-02 -1.11407798e-02 9.97320358e-01 -1.49489695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24719347 meters Centerline goodness : 0.898333 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.50 [[ 9.95227127e-01 -6.40943500e-02 -7.35858701e-02 9.27863821e+00] [ 6.47836171e-02 9.97874670e-01 7.01608405e-03 2.98306663e-01] [ 7.29797846e-02 -1.17497560e-02 9.97264205e-01 -1.49629212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27719347 meters Centerline goodness : 0.895094 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.50 [[ 9.94908347e-01 -6.81715222e-02 -7.42295461e-02 9.28122361e+00] [ 6.86046516e-02 9.97638474e-01 3.29797356e-03 2.99774498e-01] [ 7.38294232e-02 -8.37367357e-03 9.97235728e-01 -1.49741799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30719347 meters Centerline goodness : 0.896601 Centerline is valid? [False, False] Translation: X:9.28, Y:0.30, Z:-1.50 [[ 9.94859754e-01 -6.84654254e-02 -7.46093518e-02 9.28213254e+00] [ 6.89173564e-02 9.97616245e-01 3.49666197e-03 2.98859731e-01] [ 7.41921009e-02 -8.62056755e-03 9.97206708e-01 -1.49772389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33719347 meters Centerline goodness : 0.899181 Centerline is valid? [False, False] Translation: X:9.29, Y:0.30, Z:-1.50 [[ 0.99496028 -0.07251924 -0.06924598 9.2943598 ] [ 0.07335324 0.99726006 0.00957489 0.29820772] [ 0.06836188 -0.01460606 0.99755367 -1.501465 ] [ 0. 0. 0. 1. ]] SLAMing on 99.36719347 meters Centerline goodness : 0.901846 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99504114 -0.0766324 -0.06340832 9.30505155] [ 0.07776767 0.99684897 0.01563049 0.29718669] [ 0.06201071 -0.02048409 0.99786526 -1.50401905] [ 0. 0. 0. 1. ]] SLAMing on 99.39719347 meters Centerline goodness : 0.902076 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99476875 -0.07986119 -0.06369713 9.3058976 ] [ 0.08076501 0.99666404 0.0117389 0.30003136] [ 0.06254716 -0.01682199 0.99790023 -1.50341684] [ 0. 0. 0. 1. ]] SLAMing on 99.42719347 meters Centerline goodness : 0.906067 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99475243 -0.07990827 -0.06389263 9.30583242] [ 0.08078181 0.99666884 0.01120341 0.30177673] [ 0.06278455 -0.01630599 0.99789389 -1.50269795] [ 0. 0. 0. 1. ]] SLAMing on 99.45719347 meters Centerline goodness : 0.908955 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99485924 -0.07824572 -0.06428602 9.30731162] [ 0.07913765 0.99679802 0.01144329 0.30447447] [ 0.06318479 -0.0164719 0.9978659 -1.50308821] [ 0. 0. 0. 1. ]] SLAMing on 99.48719347 meters Centerline goodness : 0.905801 Centerline is valid? [False, False] Translation: X:9.31, Y:0.30, Z:-1.50 [[ 0.99491691 -0.07669324 -0.06525712 9.31085023] [ 0.07765878 0.99690305 0.01238661 0.30488835] [ 0.06410506 -0.01739143 0.9977916 -1.50493155] [ 0. 0. 0. 1. ]] SLAMing on 99.51719347 meters Centerline goodness : 0.908015 Centerline is valid? [False, False] Translation: X:9.31, Y:0.31, Z:-1.51 [[ 0.99514408 -0.07333313 -0.06565455 9.31308748] [ 0.0744859 0.99710496 0.01528262 0.30506805] [ 0.06434376 -0.02009875 0.99772537 -1.50679781] [ 0. 0. 0. 1. ]] SLAMing on 99.54719347 meters Centerline goodness : 0.908593 Centerline is valid? [False, False] Translation: X:9.32, Y:0.31, Z:-1.51 [[ 0.99557134 -0.06627754 -0.06667084 9.31612831] [ 0.06781732 0.99747459 0.02110093 0.30618327] [ 0.06510395 -0.02552892 0.99755188 -1.50853047] [ 0. 0. 0. 1. ]] SLAMing on 99.57719347 meters Centerline goodness : 0.909273 Centerline is valid? [False, False] Translation: X:9.32, Y:0.31, Z:-1.51 [[ 0.99564023 -0.06440109 -0.06747615 9.31836939] [ 0.06603098 0.99757042 0.02220752 0.30698403] [ 0.06588202 -0.02656621 0.99747371 -1.5090198 ] [ 0. 0. 0. 1. ]] SLAMing on 99.60719347 meters Centerline goodness : 0.906001 Centerline is valid? [False, False] Translation: X:9.32, Y:0.31, Z:-1.51 [[ 0.99569744 -0.06292974 -0.06801809 9.31981889] [ 0.06462444 0.99764441 0.02300678 0.30716759] [ 0.06641006 -0.02730342 0.99741878 -1.50915859] [ 0. 0. 0. 1. ]] SLAMing on 99.63719347 meters Centerline goodness : 0.908281 Centerline is valid? [False, False] Translation: X:9.32, Y:0.30, Z:-1.51 [[ 0.99581584 -0.06009898 -0.06883987 9.32245632] [ 0.06196578 0.99775732 0.02530949 0.30421344] [ 0.06716441 -0.02946931 0.99730662 -1.50987483] [ 0. 0. 0. 1. ]] SLAMing on 99.66719347 meters Centerline goodness : 0.906740 Centerline is valid? [False, False] Translation: X:9.33, Y:0.30, Z:-1.51 [[ 0.99567788 -0.06168797 -0.0694274 9.32590488] [ 0.06345171 0.99770842 0.02349022 0.30278621] [ 0.06781924 -0.02779398 0.99731041 -1.51167134] [ 0. 0. 0. 1. ]] SLAMing on 99.69719347 meters Centerline goodness : 0.903689 Centerline is valid? [False, False] Translation: X:9.33, Y:0.30, Z:-1.51 [[ 0.99549457 -0.06383511 -0.07011162 9.32922528] [ 0.06547174 0.99762714 0.02129638 0.30089915] [ 0.0685858 -0.02579076 0.9973118 -1.51316764] [ 0. 0. 0. 1. ]] SLAMing on 99.72719347 meters Centerline goodness : 0.905743 Centerline is valid? [False, False] Translation: X:9.33, Y:0.30, Z:-1.51 [[ 0.99531126 -0.06598724 -0.07071906 9.33229285] [ 0.0675031 0.99753313 0.01926124 0.29889549] [ 0.06927361 -0.02394469 0.99731029 -1.51458786] [ 0. 0. 0. 1. ]] SLAMing on 99.75719347 meters Centerline goodness : 0.902142 Centerline is valid? [False, False] Translation: X:9.33, Y:0.29, Z:-1.51 [[ 0.99513666 -0.06806846 -0.07120194 9.33376999] [ 0.06950624 0.99742071 0.01791136 0.29328753] [ 0.06979909 -0.02277323 0.99730109 -1.51406887] [ 0. 0. 0. 1. ]] SLAMing on 99.78719347 meters Centerline goodness : 0.905630 Centerline is valid? [False, False] Translation: X:9.34, Y:0.29, Z:-1.51 [[ 0.99492188 -0.07063311 -0.07170369 9.33624003] [ 0.07193353 0.99728561 0.01571543 0.29056286] [ 0.07039902 -0.02079352 0.99730216 -1.51494009] [ 0. 0. 0. 1. ]] SLAMing on 99.81719347 meters Centerline goodness : 0.900218 Centerline is valid? [False, False] Translation: X:9.34, Y:0.28, Z:-1.52 [[ 0.99472182 -0.0727162 -0.07239372 9.33968525] [ 0.07398082 0.99714775 0.01493974 0.28191504] [ 0.07110087 -0.02021663 0.99726423 -1.51628226] [ 0. 0. 0. 1. ]] SLAMing on 99.84719347000001 meters Centerline goodness : 0.900969 Centerline is valid? [False, False] Translation: X:9.34, Y:0.28, Z:-1.52 [[ 0.99448855 -0.07543716 -0.07281322 9.34198007] [ 0.07656096 0.99698319 0.01276439 0.27862366] [ 0.07163065 -0.01826869 0.99726391 -1.51708674] [ 0. 0. 0. 1. ]] SLAMing on 99.87719347 meters Centerline goodness : 0.900704 Centerline is valid? [False, False] Translation: X:9.34, Y:0.28, Z:-1.52 [[ 0.99422164 -0.07872973 -0.07297231 9.34315305] [ 0.07967642 0.9967691 0.01014991 0.27553184] [ 0.07193744 -0.01590543 0.99728232 -1.5171744 ] [ 0. 0. 0. 1. ]] SLAMing on 99.90719347 meters Centerline goodness : 0.899505 Centerline is valid? [False, False] Translation: X:9.35, Y:0.27, Z:-1.52 [[ 0.99415907 -0.08585354 -0.06539814 9.35176041] [ 0.08689175 0.99613038 0.01319467 0.27390968] [ 0.06401227 -0.01880016 0.99777201 -1.52092355] [ 0. 0. 0. 1. ]] SLAMing on 99.93719347 meters Centerline goodness : 0.900444 Centerline is valid? [False, False] Translation: X:9.35, Y:0.26, Z:-1.52 [[ 0.99378886 -0.08995558 -0.06551107 9.35151873] [ 0.09107144 0.99574248 0.01424474 0.26468475] [ 0.06395076 -0.02012245 0.99775016 -1.5172616 ] [ 0. 0. 0. 1. ]] SLAMing on 99.96719347 meters Centerline goodness : 0.904617 Centerline is valid? [False, False] Translation: X:9.35, Y:0.26, Z:-1.52 [[ 0.99356053 -0.09270117 -0.06514574 9.35211493] [ 0.09371318 0.9955189 0.01264777 0.25989082] [ 0.06368135 -0.01867134 0.9977956 -1.5174164 ] [ 0. 0. 0. 1. ]] SLAMing on 99.99719347 meters Centerline goodness : 0.904617 Centerline is valid? [False, False] Translation: X:9.35, Y:0.26, Z:-1.52 [[ 0.99356053 -0.09270117 -0.06514574 9.35211493] [ 0.09371318 0.9955189 0.01264777 0.25989082] [ 0.06368135 -0.01867134 0.9977956 -1.5174164 ] [ 0. 0. 0. 1. ]] SLAMing on 100.02719347 meters Centerline goodness : 0.902460 Centerline is valid? [False, False] Translation: X:9.35, Y:0.25, Z:-1.52 [[ 0.99328531 -0.09572355 -0.06497156 9.35385823] [ 0.09663165 0.99525971 0.01097418 0.25486137] [ 0.06361309 -0.0171788 0.99782677 -1.51848592] [ 0. 0. 0. 1. ]] SLAMing on 100.05719347 meters Centerline goodness : 0.897788 Centerline is valid? [False, False] Translation: X:9.36, Y:0.25, Z:-1.52 [[ 0.99316046 -0.09629214 -0.06603121 9.35802326] [ 0.097383 0.99515544 0.01349821 0.24877119] [ 0.06441155 -0.01983621 0.99772625 -1.5198934 ] [ 0. 0. 0. 1. ]] SLAMing on 100.08719347 meters Centerline goodness : 0.897072 Centerline is valid? [False, False] Translation: X:9.37, Y:0.24, Z:-1.52 [[ 0.99265451 -0.0985937 -0.0701164 9.36531271] [ 0.1003371 0.99471499 0.02178432 0.23678739] [ 0.06759804 -0.02865958 0.99730092 -1.5206988 ] [ 0. 0. 0. 1. ]] SLAMing on 100.11719347 meters Centerline goodness : 0.896694 Centerline is valid? [False, False] Translation: X:9.37, Y:0.23, Z:-1.52 [[ 0.99231233 -0.10189246 -0.07024365 9.36656619] [ 0.10355691 0.99441295 0.02046605 0.23253589] [ 0.06776586 -0.02758293 0.99731989 -1.52015182] [ 0. 0. 0. 1. ]] SLAMing on 100.14719347 meters Centerline goodness : 0.898258 Centerline is valid? [False, False] Translation: X:9.37, Y:0.23, Z:-1.52 [[ 0.99213903 -0.10269281 -0.07151454 9.36991611] [ 0.10461366 0.99423185 0.02364329 0.22614671] [ 0.06867404 -0.03093883 0.9971593 -1.51962136] [ 0. 0. 0. 1. ]] SLAMing on 100.17719347 meters Centerline goodness : 0.897486 Centerline is valid? [False, False] Translation: X:9.37, Y:0.22, Z:-1.52 [[ 0.99171648 -0.10633597 -0.07204923 9.37175688] [ 0.10839058 0.99378836 0.02522274 0.21527038] [ 0.0689196 -0.03282326 0.9970821 -1.51756164] [ 0. 0. 0. 1. ]] SLAMing on 100.20719347 meters Centerline goodness : 0.900257 Centerline is valid? [False, False] Translation: X:9.37, Y:0.21, Z:-1.52 [[ 0.99163938 -0.10652839 -0.07282201 9.37420409] [ 0.1087949 0.99367292 0.027889 0.20920682] [ 0.06939029 -0.0355785 0.99695494 -1.51737496] [ 0. 0. 0. 1. ]] SLAMing on 100.23719347 meters Centerline goodness : 0.898018 Centerline is valid? [False, False] Translation: X:9.38, Y:0.21, Z:-1.52 [[ 0.99129187 -0.10974083 -0.07278308 9.37552947] [ 0.11188179 0.99338108 0.0260094 0.20541774] [ 0.06944704 -0.03392601 0.99700859 -1.51744593] [ 0. 0. 0. 1. ]] SLAMing on 100.26719347 meters Centerline goodness : 0.897341 Centerline is valid? [False, False] Translation: X:9.38, Y:0.20, Z:-1.52 [[ 0.99112912 -0.11046601 -0.07389405 9.37910824] [ 0.11278947 0.99322337 0.02803351 0.20048446] [ 0.07029655 -0.0361193 0.996872 -1.51794252] [ 0. 0. 0. 1. ]] SLAMing on 100.29719347 meters Centerline goodness : 0.897890 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98976249 -0.1138277 -0.08610145 9.37587849] [ 0.11650169 0.99283207 0.02668037 0.19292746] [ 0.08244732 -0.03643819 0.99592906 -1.51226289] [ 0. 0. 0. 1. ]] SLAMing on 100.32719347 meters Centerline goodness : 0.897163 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98948288 -0.11516557 -0.08752441 9.37866125] [ 0.11802151 0.99261138 0.02817056 0.19035303] [ 0.08363345 -0.03820405 0.99576398 -1.51112568] [ 0. 0. 0. 1. ]] SLAMing on 100.35719347 meters Centerline goodness : 0.900829 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98897299 -0.11945816 -0.08753389 9.37887275] [ 0.12206369 0.99220675 0.02502461 0.1897536 ] [ 0.08386232 -0.03543338 0.99584717 -1.50990825] [ 0. 0. 0. 1. ]] SLAMing on 100.38719347 meters Centerline goodness : 0.898822 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98873116 -0.12068938 -0.08857069 9.3809033 ] [ 0.12340768 0.99201893 0.02586485 0.18790462] [ 0.08474218 -0.03650369 0.99573402 -1.50904948] [ 0. 0. 0. 1. ]] SLAMing on 100.41719347 meters Centerline goodness : 0.903774 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98835417 -0.12269238 -0.09001456 9.38260626] [ 0.12545964 0.99176487 0.02573553 0.18961057] [ 0.08611572 -0.03672901 0.99560789 -1.50721025] [ 0. 0. 0. 1. ]] SLAMing on 100.44719347 meters Centerline goodness : 0.904498 Centerline is valid? [False, False] Translation: X:9.38, Y:0.19, Z:-1.51 [[ 0.98820089 -0.12378164 -0.09020595 9.38236676] [ 0.12641478 0.99168554 0.02406422 0.19363448] [ 0.08647723 -0.03518365 0.99563236 -1.5068683 ] [ 0. 0. 0. 1. ]] SLAMing on 100.47719347 meters Centerline goodness : 0.904898 Centerline is valid? [False, False] Translation: X:9.38, Y:0.20, Z:-1.51 [[ 0.98840493 -0.1213268 -0.09129897 9.38344825] [ 0.12421711 0.99189712 0.02664986 0.19593465] [ 0.08732584 -0.03768174 0.99546687 -1.50670736] [ 0. 0. 0. 1. ]] SLAMing on 100.50719347 meters Centerline goodness : 0.906424 Centerline is valid? [False, False] Translation: X:9.38, Y:0.20, Z:-1.51 [[ 0.98874635 -0.12032909 -0.08889079 9.37884053] [ 0.12274266 0.99219056 0.02218413 0.20391498] [ 0.08552721 -0.03284517 0.9957943 -1.5074921 ] [ 0. 0. 0. 1. ]] SLAMing on 100.53719347 meters Centerline goodness : 0.903486 Centerline is valid? [False, False] Translation: X:9.38, Y:0.21, Z:-1.51 [[ 0.98919534 -0.11603308 -0.08960416 9.37885838] [ 0.11874449 0.99259662 0.02552847 0.2065232 ] [ 0.08597864 -0.03589264 0.99565024 -1.50742858] [ 0. 0. 0. 1. ]] SLAMing on 100.56719347 meters Centerline goodness : 0.913403 Centerline is valid? [False, False] Translation: X:9.38, Y:0.21, Z:-1.51 [[ 0.98955565 -0.11252955 -0.09009283 9.37794376] [ 0.11544673 0.9929236 0.02783485 0.21073067] [ 0.08632305 -0.03794506 0.99554433 -1.50680354] [ 0. 0. 0. 1. ]] SLAMing on 100.59719347 meters Centerline goodness : 0.915200 Centerline is valid? [False, False] Translation: X:9.38, Y:0.22, Z:-1.51 [[ 0.98979821 -0.10966041 -0.09096205 9.37767068] [ 0.1128051 0.99315908 0.03016701 0.21512614] [ 0.08703166 -0.04012024 0.99539734 -1.50584949] [ 0. 0. 0. 1. ]] SLAMing on 100.62719347 meters Centerline goodness : 0.913967 Centerline is valid? [False, False] Translation: X:9.38, Y:0.22, Z:-1.51 [[ 0.99002789 -0.10713096 -0.09147528 9.37726376] [ 0.11031714 0.9934283 0.03050136 0.2232067 ] [ 0.0876065 -0.04028849 0.99534011 -1.50623614] [ 0. 0. 0. 1. ]] SLAMing on 100.65719347 meters Centerline goodness : 0.917130 Centerline is valid? [False, False] Translation: X:9.38, Y:0.23, Z:-1.51 [[ 0.99004235 -0.10722308 -0.0912105 9.3767509 ] [ 0.1102336 0.99349354 0.02862056 0.2268098 ] [ 0.08754826 -0.03839003 0.99542027 -1.5070497 ] [ 0. 0. 0. 1. ]] SLAMing on 100.68719347 meters Centerline goodness : 0.918709 Centerline is valid? [False, False] Translation: X:9.38, Y:0.23, Z:-1.51 [[ 0.99008383 -0.10704617 -0.0909677 9.37609243] [ 0.10990531 0.99357499 0.02701037 0.23067801] [ 0.08749188 -0.03674036 0.99548748 -1.50772319] [ 0. 0. 0. 1. ]] SLAMing on 100.71719347 meters Centerline goodness : 0.920165 Centerline is valid? [False, False] Translation: X:9.38, Y:0.24, Z:-1.51 [[ 0.99018742 -0.10505307 -0.09215599 9.37623509] [ 0.10803942 0.99375153 0.02802452 0.23860853] [ 0.0886361 -0.03770601 0.99535014 -1.50689741] [ 0. 0. 0. 1. ]] SLAMing on 100.74719347 meters Centerline goodness : 0.918841 Centerline is valid? [False, False] Translation: X:9.38, Y:0.25, Z:-1.51 [[ 0.9905314 -0.11015389 -0.08193694 9.38213577] [ 0.11231638 0.99342326 0.02225457 0.24730642] [ 0.07894663 -0.03124671 0.99638902 -1.50902451] [ 0. 0. 0. 1. ]] SLAMing on 100.77719347 meters Centerline goodness : 0.911503 Centerline is valid? [False, False] Translation: X:9.38, Y:0.25, Z:-1.51 [[ 0.99044546 -0.11083844 -0.08205265 9.38228085] [ 0.11285744 0.99340222 0.02037691 0.25138136] [ 0.07925274 -0.02944247 0.99641966 -1.50957748] [ 0. 0. 0. 1. ]] SLAMing on 100.80719347 meters Centerline goodness : 0.911040 Centerline is valid? [False, False] Translation: X:9.38, Y:0.25, Z:-1.51 [[ 0.99045983 -0.11045468 -0.08239599 9.3840308 ] [ 0.11238641 0.99347959 0.01917272 0.25490923] [ 0.07974102 -0.02825 0.99641523 -1.51178483] [ 0. 0. 0. 1. ]] SLAMing on 100.83719347 meters Centerline goodness : 0.911251 Centerline is valid? [False, False] Translation: X:9.39, Y:0.26, Z:-1.51 [[ 0.99075364 -0.10743034 -0.08286106 9.38508667] [ 0.10937069 0.99381498 0.01923135 0.26212901] [ 0.08028253 -0.0281161 0.99637553 -1.51432589] [ 0. 0. 0. 1. ]] SLAMing on 100.86719347 meters Centerline goodness : 0.911780 Centerline is valid? [False, False] Translation: X:9.38, Y:0.27, Z:-1.51 [[ 0.99091753 -0.10627152 -0.08239421 9.38283921] [ 0.10808621 0.99398084 0.01787341 0.26671402] [ 0.07999883 -0.02661675 0.99643953 -1.51385573] [ 0. 0. 0. 1. ]] SLAMing on 100.89719347 meters Centerline goodness : 0.911851 Centerline is valid? [False, False] Translation: X:9.38, Y:0.27, Z:-1.51 [[ 0.99126708 -0.10256347 -0.08288732 9.3823527 ] [ 0.1045762 0.99430955 0.02030593 0.27053229] [ 0.080333 -0.02879664 0.99635203 -1.51366255] [ 0. 0. 0. 1. ]] SLAMing on 100.92719347 meters Centerline goodness : 0.913452 Centerline is valid? [False, False] Translation: X:9.38, Y:0.28, Z:-1.52 [[ 0.99193466 -0.10525004 -0.07062626 9.3840035 ] [ 0.10664451 0.99416421 0.01626258 0.27909471] [ 0.06850247 -0.02366332 0.99737027 -1.51606885] [ 0. 0. 0. 1. ]] SLAMing on 100.95719347 meters Centerline goodness : 0.912511 Centerline is valid? [False, False] Translation: X:9.38, Y:0.29, Z:-1.52 [[ 0.9921873 -0.10229479 -0.07141529 9.38365953] [ 0.10376155 0.99445467 0.01713024 0.28650198] [ 0.06926693 -0.02440657 0.99729956 -1.51586878] [ 0. 0. 0. 1. ]] SLAMing on 100.98719347 meters Centerline goodness : 0.910812 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99219 -0.10178548 -0.07210209 9.3859983 ] [ 0.10325723 0.99450978 0.01697791 0.28927882] [ 0.06997813 -0.02429037 0.99725275 -1.51767363] [ 0. 0. 0. 1. ]] SLAMing on 101.01719347 meters Centerline goodness : 0.910609 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99211547 -0.10250478 -0.07210873 9.38614176] [ 0.10389044 0.99446442 0.01572564 0.29095362] [ 0.07009762 -0.02309306 0.9972728 -1.51799604] [ 0. 0. 0. 1. ]] SLAMing on 101.04719347 meters Centerline goodness : 0.915125 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99198874 -0.1031576 -0.07291673 9.38775518] [ 0.10462762 0.99437248 0.01662647 0.29045999] [ 0.07079125 -0.02412237 0.99719943 -1.51752119] [ 0. 0. 0. 1. ]] SLAMing on 101.07719347 meters Centerline goodness : 0.918284 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99184854 -0.10412339 -0.07344931 9.38791321] [ 0.10564985 0.99425459 0.0172022 0.28999156] [ 0.07123616 -0.02482189 0.99715058 -1.51580673] [ 0. 0. 0. 1. ]] SLAMing on 101.10719347 meters Centerline goodness : 0.916175 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.51 [[ 0.99174346 -0.1045649 -0.0742367 9.38924109] [ 0.10620498 0.99417235 0.01848903 0.28929933] [ 0.07187077 -0.02622068 0.99706924 -1.51490417] [ 0. 0. 0. 1. ]] SLAMing on 101.13719347 meters Centerline goodness : 0.915105 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.51 [[ 0.99160411 -0.10560426 -0.07462597 9.38981173] [ 0.1072619 0.99405766 0.01855403 0.28928986] [ 0.07222313 -0.02640278 0.99703897 -1.51414993] [ 0. 0. 0. 1. ]] SLAMing on 101.16719347 meters Centerline goodness : 0.916303 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99151085 -0.10635981 -0.07479191 9.39189753] [ 0.10797504 0.99399274 0.01788347 0.28936513] [ 0.07244053 -0.02580732 0.99703879 -1.51612861] [ 0. 0. 0. 1. ]] SLAMing on 101.19719347 meters Centerline goodness : 0.912845 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99155323 -0.1056515 -0.07523262 9.39407397] [ 0.10732431 0.9940512 0.01853945 0.28870981] [ 0.07282636 -0.02645715 0.99699365 -1.51774282] [ 0. 0. 0. 1. ]] SLAMing on 101.22719347 meters Centerline goodness : 0.914834 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.99160995 -0.1053119 -0.07496077 9.39368552] [ 0.10698697 0.9940849 0.01868146 0.28765743] [ 0.07254999 -0.02654455 0.99701148 -1.51777462] [ 0. 0. 0. 1. ]] SLAMing on 101.25719347 meters Centerline goodness : 0.915123 Centerline is valid? [False, False] Translation: X:9.39, Y:0.29, Z:-1.52 [[ 0.9916822 -0.10466514 -0.07491074 9.39339818] [ 0.10642561 0.99412157 0.0198971 0.28572111] [ 0.07238785 -0.02770402 0.99699172 -1.5171511 ] [ 0. 0. 0. 1. ]] SLAMing on 101.28719347 meters Centerline goodness : 0.916354 Centerline is valid? [False, False] Translation: X:9.39, Y:0.28, Z:-1.51 [[ 0.9915601 -0.10566155 -0.07512793 9.39272064] [ 0.10759436 0.99394807 0.02215134 0.28086498] [ 0.07233272 -0.03004772 0.99692784 -1.51415656] [ 0. 0. 0. 1. ]] SLAMing on 101.31719347 meters Centerline goodness : 0.918571 Centerline is valid? [False, False] Translation: X:9.40, Y:0.28, Z:-1.51 [[ 0.99139969 -0.1064146 -0.07617476 9.39536768] [ 0.10851795 0.99380436 0.0240154 0.2778645 ] [ 0.07314722 -0.03207519 0.99680523 -1.51384981] [ 0. 0. 0. 1. ]] SLAMing on 101.34719347 meters Centerline goodness : 0.915171 Centerline is valid? [False, False] Translation: X:9.40, Y:0.28, Z:-1.51 [[ 0.99100116 -0.11000741 -0.07625656 9.39689926] [ 0.1119541 0.99347579 0.02172846 0.27555366] [ 0.07336876 -0.03007017 0.99685145 -1.51397698] [ 0. 0. 0. 1. ]] SLAMing on 101.37719347 meters Centerline goodness : 0.911971 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99030342 -0.11539906 -0.07734469 9.40144175] [ 0.11732162 0.99287661 0.02077681 0.26964111] [ 0.07439611 -0.02964955 0.9967879 -1.5145111 ] [ 0. 0. 0. 1. ]] SLAMing on 101.40719347 meters Centerline goodness : 0.914098 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99009293 -0.11640172 -0.07852793 9.40434144] [ 0.11850542 0.99269465 0.02266722 0.26636984] [ 0.07531575 -0.03174864 0.99665418 -1.51400869] [ 0. 0. 0. 1. ]] SLAMing on 101.43719347 meters Centerline goodness : 0.913877 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.51 [[ 0.98994955 -0.11705421 -0.07936121 9.40636757] [ 0.11930781 0.99256089 0.02425971 0.26378052] [ 0.07593113 -0.0334843 0.99655068 -1.51350888] [ 0. 0. 0. 1. ]] SLAMing on 101.46719347 meters Centerline goodness : 0.913124 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.51 [[ 0.98977708 -0.11785951 -0.08031476 9.40860165] [ 0.12023315 0.99242142 0.02537161 0.26171952] [ 0.0767158 -0.03476873 0.9964466 -1.51312736] [ 0. 0. 0. 1. ]] SLAMing on 101.49719347 meters Centerline goodness : 0.911838 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.51 [[ 0.98924601 -0.12211435 -0.08050102 9.41096646] [ 0.12429076 0.99198879 0.02258441 0.26006805] [ 0.07709823 -0.03234707 0.99649864 -1.51383958] [ 0. 0. 0. 1. ]] SLAMing on 101.52719347 meters Centerline goodness : 0.911145 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98903259 -0.1229072 -0.08190459 9.41542405] [ 0.12523101 0.99184098 0.02384671 0.25827224] [ 0.0783054 -0.03384217 0.99635484 -1.51513286] [ 0. 0. 0. 1. ]] SLAMing on 101.55719347 meters Centerline goodness : 0.907331 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98857243 -0.12682483 -0.08148625 9.41589322] [ 0.12884096 0.99146441 0.01995817 0.25822485] [ 0.07825953 -0.03022886 0.99647462 -1.51556623] [ 0. 0. 0. 1. ]] SLAMing on 101.58719347 meters Centerline goodness : 0.907947 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98840838 -0.12738267 -0.08259855 9.4200985 ] [ 0.12951676 0.99135498 0.02099319 0.25553814] [ 0.07921032 -0.03144775 0.99636176 -1.51741168] [ 0. 0. 0. 1. ]] SLAMing on 101.61719347 meters Centerline goodness : 0.906723 Centerline is valid? [False, False] Translation: X:9.42, Y:0.25, Z:-1.52 [[ 0.98865317 -0.12449261 -0.08406243 9.42240268] [ 0.12702798 0.99157139 0.02549654 0.25440785] [ 0.08017977 -0.03588552 0.99613424 -1.51710344] [ 0. 0. 0. 1. ]] SLAMing on 101.64719347 meters Centerline goodness : 0.907352 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98876262 -0.12379553 -0.08380422 9.42051508] [ 0.12631174 0.99166537 0.02539961 0.2562476 ] [ 0.07996138 -0.03569964 0.99615848 -1.5157646 ] [ 0. 0. 0. 1. ]] SLAMing on 101.67719347 meters Centerline goodness : 0.907597 Centerline is valid? [False, False] Translation: X:9.42, Y:0.26, Z:-1.52 [[ 0.98958442 -0.11785446 -0.08266195 9.41611173] [ 0.12045391 0.99234674 0.02718091 0.26119811] [ 0.07882592 -0.03685476 0.99620691 -1.51533673] [ 0. 0. 0. 1. ]] SLAMing on 101.70719347 meters Centerline goodness : 0.909797 Centerline is valid? [False, False] Translation: X:9.41, Y:0.26, Z:-1.52 [[ 0.99018443 -0.11298753 -0.08227159 9.41491505] [ 0.11573828 0.99284289 0.02945583 0.26293154] [ 0.07835462 -0.03868867 0.99617455 -1.51663653] [ 0. 0. 0. 1. ]] SLAMing on 101.73719347 meters Centerline goodness : 0.910892 Centerline is valid? [False, False] Translation: X:9.41, Y:0.27, Z:-1.52 [[ 0.99064909 -0.11009249 -0.08058548 9.41098847] [ 0.11267949 0.99322892 0.02827798 0.26541991] [ 0.07692663 -0.03709388 0.99634649 -1.51710992] [ 0. 0. 0. 1. ]] SLAMing on 101.76719347 meters Centerline goodness : 0.914898 Centerline is valid? [False, False] Translation: X:9.41, Y:0.27, Z:-1.52 [[ 0.9911467 -0.10562371 -0.08044783 9.40960476] [ 0.1084054 0.99362266 0.03102075 0.26717296] [ 0.07665826 -0.03946709 0.996276 -1.51725685] [ 0. 0. 0. 1. ]] SLAMing on 101.79719347 meters Centerline goodness : 0.918992 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99175108 -0.10338601 -0.07577019 9.40020024] [ 0.10568213 0.99403504 0.02693736 0.27285537] [ 0.07253328 -0.03472271 0.99676138 -1.51337483] [ 0. 0. 0. 1. ]] SLAMing on 101.82719347 meters Centerline goodness : 0.920162 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99160429 -0.10387604 -0.07701106 9.40112371] [ 0.10635309 0.99391176 0.02878243 0.27398616] [ 0.07355239 -0.03673114 0.9966147 -1.51109078] [ 0. 0. 0. 1. ]] SLAMing on 101.85719347 meters Centerline goodness : 0.922243 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99137245 -0.10552008 -0.07775717 9.40195545] [ 0.10804537 0.99372269 0.02900705 0.27454934] [ 0.07420824 -0.03715809 0.99655026 -1.50958169] [ 0. 0. 0. 1. ]] SLAMing on 101.88719347 meters Centerline goodness : 0.922243 Centerline is valid? [False, False] Translation: X:9.40, Y:0.27, Z:-1.51 [[ 0.99137245 -0.10552008 -0.07775717 9.40195545] [ 0.10804537 0.99372269 0.02900705 0.27454934] [ 0.07420824 -0.03715809 0.99655026 -1.50958169] [ 0. 0. 0. 1. ]] SLAMing on 101.91719347 meters Centerline goodness : 0.920822 Centerline is valid? [False, False] Translation: X:9.40, Y:0.28, Z:-1.51 [[ 0.99092553 -0.10959662 -0.07781497 9.40255716] [ 0.11187205 0.99339545 0.02549747 0.27531825] [ 0.0745066 -0.03397141 0.99664172 -1.50911807] [ 0. 0. 0. 1. ]] SLAMing on 101.94719347 meters Centerline goodness : 0.919916 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.99040102 -0.11396292 -0.07821937 9.40544818] [ 0.1159919 0.99300889 0.02189101 0.27579547] [ 0.07517777 -0.03075369 0.9966958 -1.51063098] [ 0. 0. 0. 1. ]] SLAMing on 101.97719347 meters Centerline goodness : 0.922983 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.9902639 -0.11439615 -0.07931534 9.40859927] [ 0.11648345 0.99294463 0.02219391 0.27684327] [ 0.07621684 -0.03121675 0.99660248 -1.51174969] [ 0. 0. 0. 1. ]] SLAMing on 102.00719347 meters Centerline goodness : 0.920545 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.99006914 -0.11562863 -0.07995695 9.4097733 ] [ 0.11767528 0.99282236 0.0213611 0.27905711] [ 0.07691309 -0.03055792 0.99656941 -1.51164645] [ 0. 0. 0. 1. ]] SLAMing on 102.03719347 meters Centerline goodness : 0.923427 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.990018 -0.11534841 -0.08098824 9.41268007] [ 0.11745068 0.99284212 0.02167638 0.28113509] [ 0.0779082 -0.03097213 0.99647932 -1.51302506] [ 0. 0. 0. 1. ]] SLAMing on 102.06719347 meters Centerline goodness : 0.923127 Centerline is valid? [False, False] Translation: X:9.41, Y:0.28, Z:-1.51 [[ 0.99004099 -0.11474735 -0.08155911 9.41475529] [ 0.1168251 0.99292704 0.02116118 0.28482817] [ 0.07855406 -0.03047859 0.99644383 -1.51493597] [ 0. 0. 0. 1. ]] SLAMing on 102.09719347 meters Centerline goodness : 0.920633 Centerline is valid? [False, False] Translation: X:9.42, Y:0.29, Z:-1.52 [[ 0.98998449 -0.11514937 -0.08167828 9.41524375] [ 0.11713882 0.9929145 0.01998255 0.28729904] [ 0.07879857 -0.02935011 0.99645841 -1.51562035] [ 0. 0. 0. 1. ]] SLAMing on 102.12719347 meters Centerline goodness : 0.922000 Centerline is valid? [False, False] Translation: X:9.42, Y:0.29, Z:-1.52 [[ 0.98997764 -0.11509473 -0.08183811 9.41589244] [ 0.11700032 0.99295264 0.01886754 0.29017548] [ 0.07908981 -0.02825353 0.99646703 -1.51663879] [ 0. 0. 0. 1. ]] SLAMing on 102.15719347 meters Centerline goodness : 0.915035 Centerline is valid? [False, False] Translation: X:9.42, Y:0.29, Z:-1.52 [[ 0.98995047 -0.11535216 -0.08180431 9.41630082] [ 0.11708841 0.99298042 0.01673862 0.29422082] [ 0.07929924 -0.02614874 0.99650784 -1.51809015] [ 0. 0. 0. 1. ]] SLAMing on 102.18719347 meters Centerline goodness : 0.915328 Centerline is valid? [False, False] Translation: X:9.42, Y:0.30, Z:-1.52 [[ 0.98986995 -0.11557269 -0.08246471 9.4189252 ] [ 0.11704443 0.99303862 0.0132253 0.3027183 ] [ 0.08036216 -0.02274336 0.99650623 -1.52158449] [ 0. 0. 0. 1. ]] SLAMing on 102.21719347 meters Centerline goodness : 0.914809 Centerline is valid? [False, False] Translation: X:9.42, Y:0.31, Z:-1.52 [[ 0.98981679 -0.11578636 -0.0828024 9.41953153] [ 0.11716745 0.99303964 0.01200282 0.30672834] [ 0.08083631 -0.02158234 0.9964937 -1.52216714] [ 0. 0. 0. 1. ]] SLAMing on 102.24719347 meters Centerline goodness : 0.912961 Centerline is valid? [False, False] Translation: X:9.42, Y:0.31, Z:-1.52 [[ 0.98966977 -0.11674065 -0.08321879 9.41944967] [ 0.118018 0.99295507 0.01058214 0.31094318] [ 0.08139715 -0.02029414 0.99647511 -1.52146882] [ 0. 0. 0. 1. ]] SLAMing on 102.27719347 meters Centerline goodness : 0.912506 Centerline is valid? [False, False] Translation: X:9.42, Y:0.32, Z:-1.52 [[ 0.98951271 -0.11760544 -0.08386626 9.42056192] [ 0.11883085 0.99286659 0.00975515 0.31506328] [ 0.08212075 -0.01961874 0.99642927 -1.52159716] [ 0. 0. 0. 1. ]] SLAMing on 102.30719347 meters Centerline goodness : 0.912553 Centerline is valid? [False, False] Translation: X:9.42, Y:0.32, Z:-1.52 [[ 0.98924448 -0.11863634 -0.08556155 9.42357488] [ 0.11989822 0.99273836 0.00974503 0.32124319] [ 0.08378412 -0.01989889 0.99628523 -1.52192319] [ 0. 0. 0. 1. ]] SLAMing on 102.33719347 meters Centerline goodness : 0.915288 Centerline is valid? [False, False] Translation: X:9.42, Y:0.32, Z:-1.52 [[ 9.89116229e-01 -1.19552491e-01 -8.57688018e-02 9.42300683e+00] [ 1.20736007e-01 9.92646279e-01 8.72821359e-03 3.23546633e-01] [ 8.40946023e-02 -1.89886003e-02 9.96276834e-01 -1.52078798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36719347 meters Centerline goodness : 0.917126 Centerline is valid? [False, False] Translation: X:9.42, Y:0.33, Z:-1.52 [[ 0.98922528 -0.11781185 -0.08691213 9.42403553] [ 0.11927955 0.99278971 0.01187354 0.32542131] [ 0.08488662 -0.02211244 0.99614522 -1.51995749] [ 0. 0. 0. 1. ]] SLAMing on 102.39719347 meters Centerline goodness : 0.918317 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98908952 -0.11806611 -0.088104 9.4251143 ] [ 0.11973346 0.99270922 0.01386766 0.32720497] [ 0.08582435 -0.02426535 0.99601475 -1.51832181] [ 0. 0. 0. 1. ]] SLAMing on 102.42719347 meters Centerline goodness : 0.919295 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98946128 -0.12323733 -0.07601937 9.42769495] [ 0.12457487 0.99212382 0.01309291 0.33226932] [ 0.07380709 -0.02242503 0.99702038 -1.52136422] [ 0. 0. 0. 1. ]] SLAMing on 102.45719347 meters Centerline goodness : 0.920933 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98974315 -0.12056949 -0.0766257 9.42714472] [ 0.12213365 0.99238391 0.01604838 0.33421232] [ 0.07410717 -0.02524236 0.99693077 -1.52014226] [ 0. 0. 0. 1. ]] SLAMing on 102.48719347 meters Centerline goodness : 0.921118 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.98992965 -0.11934655 -0.07612939 9.42626418] [ 0.12089089 0.99253694 0.01599399 0.3344304 ] [ 0.0736524 -0.02503627 0.99696966 -1.52051853] [ 0. 0. 0. 1. ]] SLAMing on 102.51719347 meters Centerline goodness : 0.920854 Centerline is valid? [False, False] Translation: X:9.43, Y:0.33, Z:-1.52 [[ 0.99017723 -0.11745532 -0.07585049 9.42548647] [ 0.11904041 0.99274878 0.01671021 0.33466751] [ 0.07333778 -0.02557534 0.99697917 -1.52074911] [ 0. 0. 0. 1. ]] SLAMing on 102.54719347 meters Centerline goodness : 0.921297 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.52 [[ 0.99056511 -0.11380987 -0.07634182 9.42559944] [ 0.11565291 0.99308514 0.02015728 0.33538168] [ 0.07351983 -0.02879625 0.99687793 -1.52067477] [ 0. 0. 0. 1. ]] SLAMing on 102.57719347 meters Centerline goodness : 0.925146 Centerline is valid? [False, False] Translation: X:9.42, Y:0.34, Z:-1.52 [[ 0.99157651 -0.10469244 -0.07625957 9.42408856] [ 0.10691535 0.99393687 0.02566338 0.33841513] [ 0.07311044 -0.03360053 0.99675768 -1.52193909] [ 0. 0. 0. 1. ]] SLAMing on 102.60719347 meters Centerline goodness : 0.921305 Centerline is valid? [False, False] Translation: X:9.42, Y:0.34, Z:-1.53 [[ 0.99215497 -0.09960904 -0.07554169 9.42369402] [ 0.10185853 0.99444521 0.0265246 0.34014165] [ 0.07247998 -0.03401108 0.9967898 -1.52515778] [ 0. 0. 0. 1. ]] SLAMing on 102.63719347 meters Centerline goodness : 0.920794 Centerline is valid? [False, False] Translation: X:9.42, Y:0.34, Z:-1.53 [[ 0.99267773 -0.09197901 -0.07829939 9.42495405] [ 0.09359111 0.99546271 0.01716656 0.34263412] [ 0.07636516 -0.02436899 0.99678208 -1.5261357 ] [ 0. 0. 0. 1. ]] SLAMing on 102.66719347 meters Centerline goodness : 0.914827 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.53 [[ 0.99291789 -0.08868275 -0.07905332 9.42938951] [ 0.09048809 0.99570567 0.01954794 0.34366176] [ 0.07698028 -0.02656288 0.99667871 -1.52968216] [ 0. 0. 0. 1. ]] SLAMing on 102.69719347 meters Centerline goodness : 0.914114 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.53 [[ 0.99405445 -0.07971246 -0.07417325 9.43041014] [ 0.08087023 0.99664329 0.01273407 0.34356564] [ 0.07290921 -0.01865676 0.99716407 -1.53222216] [ 0. 0. 0. 1. ]] SLAMing on 102.72719347 meters Centerline goodness : 0.915229 Centerline is valid? [False, False] Translation: X:9.43, Y:0.34, Z:-1.53 [[ 0.99404246 -0.07973761 -0.07430674 9.43011634] [ 0.08089684 0.99664133 0.01271886 0.34321586] [ 0.073043 -0.01865427 0.99715432 -1.53138106] [ 0. 0. 0. 1. ]] SLAMing on 102.75719347 meters Centerline goodness : 0.917158 Centerline is valid? [False, False] Translation: X:9.44, Y:0.34, Z:-1.53 [[ 0.99403148 -0.08582612 -0.06734464 9.43721587] [ 0.08714992 0.99605072 0.01696649 0.34111184] [ 0.06562251 -0.0227343 0.9975855 -1.53065371] [ 0. 0. 0. 1. ]] SLAMing on 102.78719347 meters Centerline goodness : 0.920007 Centerline is valid? [False, False] Translation: X:9.44, Y:0.34, Z:-1.53 [[ 0.99368269 -0.08965883 -0.06749821 9.43825117] [ 0.09077441 0.99577807 0.01363975 0.33971208] [ 0.06599031 -0.01968069 0.99762616 -1.53056748] [ 0. 0. 0. 1. ]] SLAMing on 102.81719347 meters Centerline goodness : 0.916301 Centerline is valid? [False, False] Translation: X:9.44, Y:0.34, Z:-1.53 [[ 0.99335768 -0.09314024 -0.06756781 9.43984137] [ 0.09408025 0.99550539 0.01085915 0.33666543] [ 0.06625269 -0.01714382 0.99765559 -1.5312407 ] [ 0. 0. 0. 1. ]] SLAMing on 102.84719347 meters Centerline goodness : 0.916172 Centerline is valid? [False, False] Translation: X:9.44, Y:0.33, Z:-1.53 [[ 9.93019542e-01 -9.65534535e-02 -6.77467389e-02 9.44195133e+00] [ 9.73350750e-02 9.95216847e-01 8.32524215e-03 3.32821330e-01] [ 6.66188650e-02 -1.48612621e-02 9.97667815e-01 -1.53231570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87719347 meters Centerline goodness : 0.914974 Centerline is valid? [False, False] Translation: X:9.44, Y:0.33, Z:-1.53 [[ 9.92669830e-01 -1.00063126e-01 -6.77789044e-02 9.44363462e+00] [ 1.00668825e-01 9.94904388e-01 5.57197090e-03 3.30132707e-01] [ 6.68759806e-02 -1.23543501e-02 9.97684807e-01 -1.53319470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90719347 meters Centerline goodness : 0.914262 Centerline is valid? [False, False] Translation: X:9.45, Y:0.33, Z:-1.53 [[ 9.92001184e-01 -1.05640675e-01 -6.90919541e-02 9.44632662e+00] [ 1.06271272e-01 9.94321933e-01 5.50552599e-03 3.25579725e-01] [ 6.81180378e-02 -1.28039781e-02 9.97595104e-01 -1.53073201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93719347 meters Centerline goodness : 0.915321 Centerline is valid? [False, False] Translation: X:9.45, Y:0.32, Z:-1.53 [[ 9.91743005e-01 -1.07131081e-01 -7.04893130e-02 9.44925052e+00] [ 1.07936446e-01 9.94127927e-01 7.70634944e-03 3.23003957e-01] [ 6.92498051e-02 -1.52510840e-02 9.97482766e-01 -1.52970355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96719347 meters Centerline goodness : 0.913828 Centerline is valid? [False, False] Translation: X:9.45, Y:0.32, Z:-1.53 [[ 9.91054673e-01 -1.12581981e-01 -7.16654275e-02 9.45301753e+00] [ 1.13370306e-01 9.93528030e-01 7.01618705e-03 3.17685703e-01] [ 7.04117148e-02 -1.50781564e-02 9.97404050e-01 -1.52903232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99719347 meters Centerline goodness : 0.916019 Centerline is valid? [False, False] Translation: X:9.46, Y:0.31, Z:-1.53 [[ 9.90825400e-01 -1.13797868e-01 -7.29045420e-02 9.45688625e+00] [ 1.14736959e-01 9.93356827e-01 8.81157110e-03 3.14239150e-01] [ 7.14174865e-02 -1.70955739e-02 9.97299997e-01 -1.52973654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02719347 meters Centerline goodness : 0.914258 Centerline is valid? [False, False] Translation: X:9.46, Y:0.31, Z:-1.53 [[ 0.99064878 -0.11463637 -0.07398307 9.46074673] [ 0.1156956 0.99323255 0.01017977 0.31135969] [ 0.07231542 -0.0186441 0.99720754 -1.53111234] [ 0. 0. 0. 1. ]] SLAMing on 103.05719347 meters Centerline goodness : 0.909761 Centerline is valid? [False, False] Translation: X:9.46, Y:0.31, Z:-1.53 [[ 0.99057533 -0.11489385 -0.07456488 9.46371464] [ 0.11604418 0.99318013 0.01126819 0.30837043] [ 0.07276171 -0.01981481 0.9971525 -1.5326921 ] [ 0. 0. 0. 1. ]] SLAMing on 103.08719347 meters Centerline goodness : 0.911761 Centerline is valid? [False, False] Translation: X:9.47, Y:0.31, Z:-1.53 [[ 0.99048674 -0.11518761 -0.07528505 9.46624844] [ 0.11646735 0.99311177 0.01282052 0.30543908] [ 0.0732897 -0.02146681 0.99707963 -1.5333805 ] [ 0. 0. 0. 1. ]] SLAMing on 103.11719347 meters Centerline goodness : 0.909637 Centerline is valid? [False, False] Translation: X:9.47, Y:0.31, Z:-1.53 [[ 0.9905297 -0.11438707 -0.07593749 9.46791613] [ 0.11576931 0.99317686 0.01404241 0.30508129] [ 0.07381309 -0.02270066 0.99701369 -1.5338539 ] [ 0. 0. 0. 1. ]] SLAMing on 103.14719347 meters Centerline goodness : 0.909865 Centerline is valid? [False, False] Translation: X:9.47, Y:0.31, Z:-1.53 [[ 0.99060645 -0.11368959 -0.07598382 9.4682747 ] [ 0.11508467 0.9932538 0.01422669 0.30512928] [ 0.07385379 -0.02283762 0.99700755 -1.53444398] [ 0. 0. 0. 1. ]] SLAMing on 103.17719347 meters Centerline goodness : 0.910071 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99084793 -0.11203144 -0.07529499 9.46745731] [ 0.11339786 0.99344945 0.01411071 0.30416222] [ 0.07322092 -0.02251986 0.99706146 -1.53553902] [ 0. 0. 0. 1. ]] SLAMing on 103.20719347 meters Centerline goodness : 0.910427 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99116189 -0.10937876 -0.07506262 9.46788391] [ 0.11082196 0.9937221 0.01532598 0.30270123] [ 0.07291505 -0.02350912 0.99706104 -1.53725545] [ 0. 0. 0. 1. ]] SLAMing on 103.23719347 meters Centerline goodness : 0.912503 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99157441 -0.10637602 -0.07392107 9.46540824] [ 0.10784834 0.99403522 0.01620842 0.30117707] [ 0.07175596 -0.02404412 0.99713237 -1.53746428] [ 0. 0. 0. 1. ]] SLAMing on 103.26719347 meters Centerline goodness : 0.912923 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99159881 -0.10611792 -0.0739648 9.4651133 ] [ 0.10761331 0.99405551 0.01652304 0.30121798] [ 0.07177172 -0.02434382 0.99712396 -1.53694794] [ 0. 0. 0. 1. ]] SLAMing on 103.29719347 meters Centerline goodness : 0.913953 Centerline is valid? [False, False] Translation: X:9.46, Y:0.30, Z:-1.54 [[ 0.99165887 -0.10535851 -0.07424463 9.46456483] [ 0.10700188 0.9940866 0.01850466 0.29984308] [ 0.07185597 -0.02629462 0.99706836 -1.53516476] [ 0. 0. 0. 1. ]] SLAMing on 103.32719347 meters Centerline goodness : 0.914246 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99159476 -0.1054751 -0.07493227 9.46624635] [ 0.10722333 0.99403991 0.01969298 0.29835151] [ 0.07240855 -0.02756194 0.99699415 -1.53513799] [ 0. 0. 0. 1. ]] SLAMing on 103.35719347 meters Centerline goodness : 0.915402 Centerline is valid? [False, False] Translation: X:9.47, Y:0.30, Z:-1.54 [[ 0.99134532 -0.10826384 -0.07425221 9.46560433] [ 0.10979272 0.99381226 0.01681525 0.2970527 ] [ 0.07197227 -0.02482207 0.99709772 -1.53503849] [ 0. 0. 0. 1. ]] SLAMing on 103.38719347 meters Centerline goodness : 0.917755 Centerline is valid? [False, False] Translation: X:9.47, Y:0.29, Z:-1.53 [[ 0.99069871 -0.11351008 -0.07504347 9.46763681] [ 0.11497466 0.99324782 0.01547907 0.29337924] [ 0.07277974 -0.0239632 0.99706012 -1.5332617 ] [ 0. 0. 0. 1. ]] SLAMing on 103.41719347 meters Centerline goodness : 0.917416 Centerline is valid? [False, False] Translation: X:9.47, Y:0.29, Z:-1.53 [[ 0.99044296 -0.11489429 -0.07630233 9.46995795] [ 0.11649048 0.99304981 0.01679408 0.2919104 ] [ 0.07384247 -0.02552207 0.99694329 -1.53216012] [ 0. 0. 0. 1. ]] SLAMing on 103.44719347 meters Centerline goodness : 0.920230 Centerline is valid? [False, False] Translation: X:9.47, Y:0.29, Z:-1.53 [[ 0.9902482 -0.11594648 -0.07723282 9.47137046] [ 0.11765079 0.99289405 0.01787989 0.2912167 ] [ 0.0746109 -0.02679203 0.99685275 -1.5309446 ] [ 0. 0. 0. 1. ]] SLAMing on 103.47719347 meters Centerline goodness : 0.920232 Centerline is valid? [False, False] Translation: X:9.48, Y:0.29, Z:-1.53 [[ 0.99008441 -0.11574009 -0.07960581 9.47521229] [ 0.11777308 0.99281165 0.0213199 0.29247988] [ 0.07656601 -0.03048393 0.9965984 -1.53004368] [ 0. 0. 0. 1. ]] SLAMing on 103.50719347 meters Centerline goodness : 0.919929 Centerline is valid? [False, False] Translation: X:9.48, Y:0.29, Z:-1.53 [[ 0.99008112 -0.11575118 -0.07963061 9.47597886] [ 0.1177297 0.99283197 0.02060103 0.29346149] [ 0.07667522 -0.02977158 0.99661154 -1.53122886] [ 0. 0. 0. 1. ]] SLAMing on 103.53719347 meters Centerline goodness : 0.924149 Centerline is valid? [False, False] Translation: X:9.48, Y:0.29, Z:-1.53 [[ 0.99011536 -0.11564303 -0.0793616 9.4762109 ] [ 0.11753485 0.99287571 0.01958007 0.29428067] [ 0.07653191 -0.02871428 0.99665358 -1.53254893] [ 0. 0. 0. 1. ]] SLAMing on 103.56719347 meters Centerline goodness : 0.922292 Centerline is valid? [False, False] Translation: X:9.48, Y:0.30, Z:-1.53 [[ 0.98991706 -0.11682138 -0.08010602 9.47879521] [ 0.11864452 0.99276678 0.0183737 0.29663597] [ 0.07738015 -0.02769258 0.99661699 -1.53416877] [ 0. 0. 0. 1. ]] SLAMing on 103.59719347 meters Centerline goodness : 0.919905 Centerline is valid? [False, False] Translation: X:9.48, Y:0.30, Z:-1.53 [[ 0.98964474 -0.11809685 -0.08158684 9.48241348] [ 0.11999437 0.99259764 0.01874245 0.29864114] [ 0.07876948 -0.02833832 0.99648999 -1.53477797] [ 0. 0. 0. 1. ]] SLAMing on 103.62719347 meters Centerline goodness : 0.921159 Centerline is valid? [False, False] Translation: X:9.49, Y:0.30, Z:-1.53 [[ 0.98924678 -0.12042139 -0.08300301 9.48519558] [ 0.12234371 0.99231615 0.01845752 0.30076569] [ 0.08014254 -0.02841394 0.99637835 -1.53425981] [ 0. 0. 0. 1. ]] SLAMing on 103.65719347 meters Centerline goodness : 0.920284 Centerline is valid? [False, False] Translation: X:9.49, Y:0.30, Z:-1.53 [[ 0.98890304 -0.12194493 -0.08485408 9.4893056 ] [ 0.12398733 0.99209781 0.01921122 0.30240071] [ 0.08184084 -0.02951887 0.99620817 -1.53437109] [ 0. 0. 0. 1. ]] SLAMing on 103.68719347 meters Centerline goodness : 0.919014 Centerline is valid? [False, False] Translation: X:9.49, Y:0.31, Z:-1.53 [[ 0.98819868 -0.12651719 -0.0863526 9.49170445] [ 0.12846039 0.9915636 0.01730755 0.30621783] [ 0.0834344 -0.02819619 0.99611429 -1.53291262] [ 0. 0. 0. 1. ]] SLAMing on 103.71719347 meters Centerline goodness : 0.918405 Centerline is valid? [False, False] Translation: X:9.49, Y:0.31, Z:-1.53 [[ 0.98802406 -0.12736478 -0.08710153 9.49320025] [ 0.12932655 0.99145218 0.01724018 0.30750537] [ 0.08416121 -0.02829825 0.99605025 -1.53287479] [ 0. 0. 0. 1. ]] SLAMing on 103.74719347 meters Centerline goodness : 0.918536 Centerline is valid? [False, False] Translation: X:9.49, Y:0.31, Z:-1.53 [[ 0.98786771 -0.12822883 -0.08760564 9.49399838] [ 0.13017897 0.9913465 0.0168984 0.3089864 ] [ 0.08468068 -0.02809779 0.9960119 -1.53256802] [ 0. 0. 0. 1. ]] SLAMing on 103.77719347 meters Centerline goodness : 0.919931 Centerline is valid? [False, False] Translation: X:9.50, Y:0.31, Z:-1.53 [[ 0.9876947 -0.1290294 -0.08837756 9.49516405] [ 0.13100014 0.99123915 0.01684989 0.31094504] [ 0.08542917 -0.02822002 0.99594452 -1.53212723] [ 0. 0. 0. 1. ]] SLAMing on 103.80719347 meters Centerline goodness : 0.919931 Centerline is valid? [False, False] Translation: X:9.50, Y:0.31, Z:-1.53 [[ 0.9876947 -0.1290294 -0.08837756 9.49516405] [ 0.13100014 0.99123915 0.01684989 0.31094504] [ 0.08542917 -0.02822002 0.99594452 -1.53212723] [ 0. 0. 0. 1. ]] SLAMing on 103.83719347 meters Centerline goodness : 0.921392 Centerline is valid? [False, False] Translation: X:9.50, Y:0.31, Z:-1.53 [[ 0.98762595 -0.12829751 -0.09019274 9.49816948] [ 0.13053875 0.99125375 0.01938148 0.31359399] [ 0.0869173 -0.0309153 0.99573572 -1.53196996] [ 0. 0. 0. 1. ]] SLAMing on 103.86719347 meters Centerline goodness : 0.919125 Centerline is valid? [False, False] Translation: X:9.50, Y:0.32, Z:-1.53 [[ 0.98718028 -0.13023659 -0.09226876 9.50065064] [ 0.13249364 0.99100654 0.01874738 0.32200363] [ 0.08899735 -0.03073207 0.99555764 -1.53101015] [ 0. 0. 0. 1. ]] SLAMing on 103.89719347 meters Centerline goodness : 0.917985 Centerline is valid? [False, False] Translation: X:9.50, Y:0.33, Z:-1.53 [[ 0.98709696 -0.13083501 -0.09231358 9.50034732] [ 0.13294585 0.99097624 0.01707289 0.32607134] [ 0.08924683 -0.02912531 0.99558361 -1.53118295] [ 0. 0. 0. 1. ]] SLAMing on 103.92719347 meters Centerline goodness : 0.919134 Centerline is valid? [False, False] Translation: X:9.50, Y:0.33, Z:-1.53 [[ 0.98721911 -0.12954216 -0.09282914 9.50229574] [ 0.13162214 0.99116063 0.01661978 0.32993889] [ 0.08985563 -0.02862573 0.99554334 -1.53350717] [ 0. 0. 0. 1. ]] SLAMing on 103.95719347 meters Centerline goodness : 0.915376 Centerline is valid? [False, False] Translation: X:9.50, Y:0.34, Z:-1.53 [[ 0.98747245 -0.12702818 -0.09360561 9.50217352] [ 0.12909765 0.99149675 0.01637031 0.33907601] [ 0.09073017 -0.02824949 0.99547476 -1.53406896] [ 0. 0. 0. 1. ]] SLAMing on 103.98719347 meters Centerline goodness : 0.917539 Centerline is valid? [False, False] Translation: X:9.50, Y:0.34, Z:-1.53 [[ 0.98768141 -0.12455993 -0.09471142 9.50255499] [ 0.12679065 0.99176819 0.017888 0.3449556 ] [ 0.09170365 -0.02967617 0.99534404 -1.5337362 ] [ 0. 0. 0. 1. ]] SLAMing on 104.01719347 meters Centerline goodness : 0.914819 Centerline is valid? [False, False] Translation: X:9.50, Y:0.35, Z:-1.54 [[ 0.98833205 -0.12792814 -0.08266892 9.50335622] [ 0.12947955 0.99148794 0.01366389 0.35477352] [ 0.08021724 -0.02420839 0.99648339 -1.53502995] [ 0. 0. 0. 1. ]] SLAMing on 104.04719347 meters Centerline goodness : 0.915797 Centerline is valid? [False, False] Translation: X:9.50, Y:0.36, Z:-1.54 [[ 0.98871506 -0.12428983 -0.08363354 9.50381958] [ 0.12606288 0.99188925 0.01624377 0.35950846] [ 0.08093627 -0.02660354 0.99636418 -1.53521996] [ 0. 0. 0. 1. ]] SLAMing on 104.07719347 meters Centerline goodness : 0.921720 Centerline is valid? [False, False] Translation: X:9.50, Y:0.37, Z:-1.54 [[ 0.98971643 -0.12405794 -0.07121101 9.50251431] [ 0.12529738 0.99203151 0.01319301 0.37124138] [ 0.06900687 -0.02197989 0.99737402 -1.53614554] [ 0. 0. 0. 1. ]] SLAMing on 104.10719347 meters Centerline goodness : 0.922853 Centerline is valid? [False, False] Translation: X:9.50, Y:0.38, Z:-1.54 [[ 0.99010162 -0.12073487 -0.07156732 9.50227046] [ 0.12208416 0.99240981 0.01477278 0.37512053] [ 0.06924052 -0.02336379 0.99732637 -1.53678708] [ 0. 0. 0. 1. ]] SLAMing on 104.13719347 meters Centerline goodness : 0.921289 Centerline is valid? [False, False] Translation: X:9.50, Y:0.38, Z:-1.54 [[ 0.99044341 -0.11757017 -0.07210487 9.50261499] [ 0.11903242 0.99275633 0.01631438 0.37896559] [ 0.06966449 -0.02474129 0.99726362 -1.53767815] [ 0. 0. 0. 1. ]] SLAMing on 104.16719347 meters Centerline goodness : 0.909097 Centerline is valid? [False, False] Translation: X:9.51, Y:0.39, Z:-1.54 [[ 0.99147051 -0.10671821 -0.07481608 9.50727091] [ 0.10887976 0.99372979 0.02542239 0.38523162] [ 0.07163394 -0.03335151 0.99687324 -1.54117125] [ 0. 0. 0. 1. ]] SLAMing on 104.19719347 meters Centerline goodness : 0.909514 Centerline is valid? [False, False] Translation: X:9.51, Y:0.39, Z:-1.55 [[ 0.99201655 -0.10714204 -0.06651128 9.51400453] [ 0.10938483 0.99351478 0.03103773 0.39129781] [ 0.0627545 -0.03806527 0.99730282 -1.54824823] [ 0. 0. 0. 1. ]] SLAMing on 104.22719347 meters Centerline goodness : 0.909756 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99248742 -0.10786606 -0.05773758 9.52147643] [ 0.109688 0.99353216 0.02936665 0.39807398] [ 0.05419648 -0.03547915 0.99789978 -1.55027137] [ 0. 0. 0. 1. ]] SLAMing on 104.25719347 meters Centerline goodness : 0.902884 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99274853 -0.10502826 -0.05847584 9.52298356] [ 0.10700409 0.99375177 0.03174185 0.39997164] [ 0.05477668 -0.03776883 0.99778406 -1.55154866] [ 0. 0. 0. 1. ]] SLAMing on 104.28719347 meters Centerline goodness : 0.906775 Centerline is valid? [False, False] Translation: X:9.53, Y:0.40, Z:-1.55 [[ 0.99289085 -0.10364503 -0.05852744 9.52512353] [ 0.10559143 0.99392011 0.0311971 0.40120843] [ 0.05493817 -0.03715531 0.99779822 -1.55487549] [ 0. 0. 0. 1. ]] SLAMing on 104.31719347 meters Centerline goodness : 0.904275 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99284254 -0.10469523 -0.05746817 9.52336188] [ 0.1064563 0.99390938 0.02848145 0.40026945] [ 0.05413628 -0.03439544 0.99794099 -1.55492043] [ 0. 0. 0. 1. ]] SLAMing on 104.34719347 meters Centerline goodness : 0.904349 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99277245 -0.10515754 -0.05783381 9.52392586] [ 0.10697548 0.99383034 0.02928298 0.39898656] [ 0.05439767 -0.03525814 0.99789667 -1.55416619] [ 0. 0. 0. 1. ]] SLAMing on 104.37719347 meters Centerline goodness : 0.905786 Centerline is valid? [False, False] Translation: X:9.53, Y:0.40, Z:-1.55 [[ 0.99251496 -0.10645888 -0.05983778 9.52545737] [ 0.1085642 0.99353823 0.0330999 0.39779569] [ 0.05592735 -0.03934839 0.99765918 -1.55008676] [ 0. 0. 0. 1. ]] SLAMing on 104.40719347 meters Centerline goodness : 0.905174 Centerline is valid? [False, False] Translation: X:9.53, Y:0.40, Z:-1.55 [[ 0.9924551 -0.10684005 -0.06015042 9.52553792] [ 0.10898361 0.99347713 0.03355247 0.3973935 ] [ 0.05617332 -0.03985473 0.99762526 -1.5491169 ] [ 0. 0. 0. 1. ]] SLAMing on 104.43719347 meters Centerline goodness : 0.903188 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99238375 -0.10812802 -0.05901553 9.5236446 ] [ 0.1100483 0.99346393 0.0303116 0.39693325] [ 0.05535227 -0.03657529 0.99779676 -1.5491528 ] [ 0. 0. 0. 1. ]] SLAMing on 104.46719347 meters Centerline goodness : 0.907551 Centerline is valid? [False, False] Translation: X:9.52, Y:0.40, Z:-1.55 [[ 0.99228613 -0.11046649 -0.05626186 9.52189995] [ 0.11187162 0.99346882 0.02245998 0.3954376 ] [ 0.05341332 -0.02858084 0.99816339 -1.55310849] [ 0. 0. 0. 1. ]] SLAMing on 104.49719347 meters Centerline goodness : 0.905641 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99215054 -0.11246544 -0.05467016 9.51972875] [ 0.11361025 0.99335695 0.01829415 0.39386 ] [ 0.05224953 -0.02436165 0.99833687 -1.55366215] [ 0. 0. 0. 1. ]] SLAMing on 104.52719347 meters Centerline goodness : 0.902100 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99202921 -0.11401874 -0.05364495 9.51757201] [ 0.11501819 0.99323584 0.01591774 0.39202186] [ 0.05146717 -0.02196101 0.99843319 -1.55269195] [ 0. 0. 0. 1. ]] SLAMing on 104.55719347 meters Centerline goodness : 0.907513 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99178451 -0.11593486 -0.05406099 9.51580728] [ 0.11707844 0.99295074 0.01847869 0.38869885] [ 0.05153758 -0.02465626 0.99836664 -1.54755891] [ 0. 0. 0. 1. ]] SLAMing on 104.58719347 meters Centerline goodness : 0.909817 Centerline is valid? [False, False] Translation: X:9.52, Y:0.39, Z:-1.55 [[ 0.99150041 -0.11803437 -0.05472502 9.51625135] [ 0.11924613 0.99267475 0.01942155 0.38645575] [ 0.05203173 -0.02578222 0.99831256 -1.54520114] [ 0. 0. 0. 1. ]] SLAMing on 104.61719347 meters Centerline goodness : 0.908234 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.54 [[ 0.99102703 -0.12197889 -0.0546495 9.51653007] [ 0.12306668 0.99225296 0.0169899 0.38453127] [ 0.05215371 -0.02356298 0.99836104 -1.54404954] [ 0. 0. 0. 1. ]] SLAMing on 104.64719347 meters Centerline goodness : 0.908080 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.54 [[ 0.99046416 -0.12624945 -0.05515279 9.51913479] [ 0.12724473 0.99175929 0.01490916 0.38279249] [ 0.05281602 -0.02178489 0.99836661 -1.54433549] [ 0. 0. 0. 1. ]] SLAMing on 104.67719347 meters Centerline goodness : 0.905976 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.54 [[ 0.98921538 -0.12839939 -0.07047357 9.524077 ] [ 0.13002651 0.99132866 0.01898917 0.37529876] [ 0.06742428 -0.02794781 0.99733289 -1.54100025] [ 0. 0. 0. 1. ]] SLAMing on 104.70719347 meters Centerline goodness : 0.907150 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98883735 -0.13060941 -0.07170687 9.52702546] [ 0.13237082 0.990991 0.02036699 0.37323649] [ 0.06840074 -0.02963153 0.99721779 -1.54033769] [ 0. 0. 0. 1. ]] SLAMing on 104.73719347 meters Centerline goodness : 0.907135 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98859833 -0.13198579 -0.07247823 9.52856489] [ 0.13384138 0.99077275 0.02135031 0.37169782] [ 0.06899151 -0.03080746 0.99714145 -1.53940274] [ 0. 0. 0. 1. ]] SLAMing on 104.76719347 meters Centerline goodness : 0.904304 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98854657 -0.13217661 -0.07283555 9.53087954] [ 0.13404564 0.99074453 0.02137834 0.37081313] [ 0.06933571 -0.03089677 0.99711481 -1.5411611 ] [ 0. 0. 0. 1. ]] SLAMing on 104.79719347 meters Centerline goodness : 0.905182 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98869523 -0.13116334 -0.07264936 9.5306951 ] [ 0.13301111 0.99088805 0.02118758 0.37134956] [ 0.06920835 -0.03061124 0.99713247 -1.54180802] [ 0. 0. 0. 1. ]] SLAMing on 104.82719347 meters Centerline goodness : 0.905425 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.98914026 -0.1275572 -0.07301166 9.53108737] [ 0.12959056 0.99128178 0.02380601 0.37192817] [ 0.0693385 -0.0330091 0.99704693 -1.54273553] [ 0. 0. 0. 1. ]] SLAMing on 104.85719347 meters Centerline goodness : 0.903895 Centerline is valid? [False, False] Translation: X:9.53, Y:0.37, Z:-1.54 [[ 0.99022478 -0.11855617 -0.07348001 9.53017009] [ 0.12101763 0.99219728 0.02998834 0.37439902] [ 0.06935136 -0.03858757 0.99684572 -1.5437027 ] [ 0. 0. 0. 1. ]] SLAMing on 104.88719347 meters Centerline goodness : 0.901496 Centerline is valid? [False, False] Translation: X:9.53, Y:0.38, Z:-1.54 [[ 0.9907422 -0.11398843 -0.07373287 9.52942787] [ 0.11667122 0.99261721 0.03314972 0.37538931] [ 0.06940983 -0.04144533 0.99672692 -1.54369338] [ 0. 0. 0. 1. ]] SLAMing on 104.91719347 meters Centerline goodness : 0.892641 Centerline is valid? [False, False] Translation: X:9.53, Y:0.38, Z:-1.54 [[ 0.99124902 -0.10942705 -0.07383151 9.52869529] [ 0.11233525 0.99300171 0.03644722 0.37593404] [ 0.0693265 -0.04442216 0.99660449 -1.54390472] [ 0. 0. 0. 1. ]] SLAMing on 104.94719347 meters Centerline goodness : 0.898680 Centerline is valid? [False, False] Translation: X:9.53, Y:0.38, Z:-1.54 [[ 0.99160586 -0.1067733 -0.07291969 9.52596908] [ 0.1096523 0.99329299 0.03667994 0.37631678] [ 0.06851418 -0.04436786 0.99666308 -1.54353057] [ 0. 0. 0. 1. ]] SLAMing on 104.97719347 meters Centerline goodness : 0.899912 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.992285 -0.10177504 -0.07079773 9.52210802] [ 0.10452779 0.99385854 0.03631996 0.37548727] [ 0.06666646 -0.04344008 0.99682924 -1.54524547] [ 0. 0. 0. 1. ]] SLAMing on 105.00719347 meters Centerline goodness : 0.893461 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.99234188 -0.10110056 -0.07096674 9.52282823] [ 0.10388477 0.99391218 0.03669505 0.37502346] [ 0.06682481 -0.0437864 0.99680349 -1.54549449] [ 0. 0. 0. 1. ]] SLAMing on 105.03719347 meters Centerline goodness : 0.894278 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.99294457 -0.10440569 -0.05621863 9.5200587 ] [ 0.10631486 0.99381406 0.03210544 0.37721604] [ 0.05251888 -0.0378558 0.99790215 -1.54769121] [ 0. 0. 0. 1. ]] SLAMing on 105.06719347 meters Centerline goodness : 0.898469 Centerline is valid? [False, False] Translation: X:9.52, Y:0.38, Z:-1.55 [[ 0.99337191 -0.10092982 -0.05500383 9.5176592 ] [ 0.10282047 0.99416247 0.03269458 0.37666183] [ 0.05138289 -0.0381334 0.99795072 -1.54838078] [ 0. 0. 0. 1. ]] SLAMing on 105.09719347 meters Centerline goodness : 0.896363 Centerline is valid? [False, False] Translation: X:9.52, Y:0.37, Z:-1.55 [[ 0.99345305 -0.1004345 -0.05444215 9.51804304] [ 0.10229141 0.9942247 0.032461 0.37423884] [ 0.05086752 -0.03781745 0.99798915 -1.54988439] [ 0. 0. 0. 1. ]] SLAMing on 105.12719347 meters Centerline goodness : 0.889346 Centerline is valid? [False, False] Translation: X:9.52, Y:0.37, Z:-1.55 [[ 0.9934555 -0.1014063 -0.05256354 9.51727251] [ 0.10304978 0.99423704 0.02955417 0.36765767] [ 0.04926364 -0.03477741 0.99818016 -1.5521305 ] [ 0. 0. 0. 1. ]] SLAMing on 105.15719347 meters Centerline goodness : 0.892122 Centerline is valid? [False, False] Translation: X:9.52, Y:0.36, Z:-1.55 [[ 0.99342016 -0.10201418 -0.05205272 9.51794974] [ 0.10359873 0.99420493 0.02870293 0.36411099] [ 0.04882296 -0.03390667 0.99823176 -1.55335307] [ 0. 0. 0. 1. ]] SLAMing on 105.18719347 meters Centerline goodness : 0.888204 Centerline is valid? [False, False] Translation: X:9.52, Y:0.36, Z:-1.55 [[ 0.99327414 -0.10295615 -0.05297645 9.52148468] [ 0.10466592 0.99403737 0.03057376 0.36049258] [ 0.04951282 -0.03591295 0.99812762 -1.55439553] [ 0. 0. 0. 1. ]] SLAMing on 105.21719347 meters Centerline goodness : 0.890631 Centerline is valid? [False, False] Translation: X:9.52, Y:0.35, Z:-1.55 [[ 0.99254849 -0.10980663 -0.05282049 9.52333592] [ 0.11124057 0.99347872 0.0250114 0.35487408] [ 0.04972961 -0.03070081 0.99829075 -1.55411092] [ 0. 0. 0. 1. ]] SLAMing on 105.24719347 meters Centerline goodness : 0.888256 Centerline is valid? [False, False] Translation: X:9.53, Y:0.35, Z:-1.55 [[ 0.99228846 -0.1115119 -0.0541176 9.52663065] [ 0.11312038 0.99319732 0.02762006 0.35089867] [ 0.05066949 -0.03352887 0.9981525 -1.55347019] [ 0. 0. 0. 1. ]] SLAMing on 105.27719347 meters Centerline goodness : 0.888321 Centerline is valid? [False, False] Translation: X:9.53, Y:0.35, Z:-1.55 [[ 0.9918329 -0.11528004 -0.05457107 9.52859481] [ 0.11684644 0.99279825 0.02643008 0.34783573] [ 0.0511312 -0.03259065 0.99816003 -1.55287065] [ 0. 0. 0. 1. ]] SLAMing on 105.30719347 meters Centerline goodness : 0.888823 Centerline is valid? [False, False] Translation: X:9.53, Y:0.34, Z:-1.55 [[ 0.99090544 -0.11602005 -0.06815976 9.53223334] [ 0.11824794 0.99254276 0.02960213 0.33647733] [ 0.06421704 -0.03739266 0.99723516 -1.55047468] [ 0. 0. 0. 1. ]] SLAMing on 105.33719347 meters Centerline goodness : 0.889934 Centerline is valid? [False, False] Translation: X:9.53, Y:0.33, Z:-1.55 [[ 0.99051704 -0.1193734 -0.06801454 9.53348701] [ 0.12151022 0.99218999 0.02818304 0.33212854] [ 0.06411904 -0.03618024 0.99728619 -1.55034937] [ 0. 0. 0. 1. ]] SLAMing on 105.36719347 meters Centerline goodness : 0.893703 Centerline is valid? [False, False] Translation: X:9.53, Y:0.33, Z:-1.55 [[ 0.99016966 -0.12232052 -0.0678361 9.53409342] [ 0.12439059 0.99186139 0.02716532 0.32764284] [ 0.06396114 -0.03533645 0.99732658 -1.54952581] [ 0. 0. 0. 1. ]] SLAMing on 105.39719347 meters Centerline goodness : 0.896843 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.99002182 -0.12298595 -0.06878411 9.53628769] [ 0.12526304 0.99167538 0.02981805 0.32337479] [ 0.06454431 -0.03813663 0.99718586 -1.548577 ] [ 0. 0. 0. 1. ]] SLAMing on 105.42719347 meters Centerline goodness : 0.895353 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.9899053 -0.12322555 -0.07002109 9.53822853] [ 0.12576757 0.99150676 0.0331189 0.31916812] [ 0.06534529 -0.04159095 0.99699558 -1.54659629] [ 0. 0. 0. 1. ]] SLAMing on 105.45719347 meters Centerline goodness : 0.895252 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.9899874 -0.12261849 -0.0699261 9.53840434] [ 0.12519335 0.99155997 0.03369633 0.31771872] [ 0.06520413 -0.04211323 0.9969829 -1.54686652] [ 0. 0. 0. 1. ]] SLAMing on 105.48719347 meters Centerline goodness : 0.897327 Centerline is valid? [False, False] Translation: X:9.54, Y:0.32, Z:-1.55 [[ 0.99017551 -0.12103578 -0.07002005 9.54038012] [ 0.12368699 0.99170948 0.03484003 0.31539901] [ 0.06522265 -0.04315831 0.99693699 -1.54909469] [ 0. 0. 0. 1. ]] SLAMing on 105.51719347 meters Centerline goodness : 0.892025 Centerline is valid? [False, False] Translation: X:9.54, Y:0.31, Z:-1.55 [[ 0.99040482 -0.11996115 -0.06861205 9.539321 ] [ 0.12246321 0.99190789 0.03348887 0.31273679] [ 0.06403947 -0.04156999 0.99708118 -1.55111249] [ 0. 0. 0. 1. ]] SLAMing on 105.54719347 meters Centerline goodness : 0.902704 Centerline is valid? [False, False] Translation: X:9.54, Y:0.31, Z:-1.55 [[ 0.99077318 -0.11743816 -0.067652 9.53959784] [ 0.11997138 0.99217173 0.03467159 0.30712662] [ 0.06305063 -0.04246799 0.99710636 -1.55329704] [ 0. 0. 0. 1. ]] SLAMing on 105.57719347 meters Centerline goodness : 0.896988 Centerline is valid? [False, False] Translation: X:9.54, Y:0.31, Z:-1.55 [[ 0.99082017 -0.11679816 -0.06807034 9.53933312] [ 0.11945019 0.99217733 0.03627382 0.30567429] [ 0.06330113 -0.04407184 0.99702088 -1.55157116] [ 0. 0. 0. 1. ]] SLAMing on 105.60719347 meters Centerline goodness : 0.901167 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.9909234 -0.11588738 -0.06812437 9.53830609] [ 0.11863987 0.99221614 0.03783808 0.30452389] [ 0.06320915 -0.0455769 0.99695905 -1.54987601] [ 0. 0. 0. 1. ]] SLAMing on 105.63719347 meters Centerline goodness : 0.903353 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.99111764 -0.1140591 -0.06838382 9.54029117] [ 0.11694929 0.99233793 0.03985355 0.30100647] [ 0.0633142 -0.047497 0.99686275 -1.55149151] [ 0. 0. 0. 1. ]] SLAMing on 105.66719347 meters Centerline goodness : 0.903114 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.99118271 -0.11411811 -0.06733414 9.54088199] [ 0.11680383 0.99245111 0.03738517 0.29865642] [ 0.06255952 -0.04492042 0.99702982 -1.55450508] [ 0. 0. 0. 1. ]] SLAMing on 105.69719347 meters Centerline goodness : 0.903114 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.55 [[ 0.99118271 -0.11411811 -0.06733414 9.54088199] [ 0.11680383 0.99245111 0.03738517 0.29865642] [ 0.06255952 -0.04492042 0.99702982 -1.55450508] [ 0. 0. 0. 1. ]] SLAMing on 105.72719347 meters Centerline goodness : 0.902074 Centerline is valid? [False, False] Translation: X:9.54, Y:0.30, Z:-1.56 [[ 0.99129805 -0.1137518 -0.06624729 9.54099871] [ 0.11625844 0.99259198 0.03528658 0.29623902] [ 0.06174262 -0.04268132 0.9971791 -1.55715746] [ 0. 0. 0. 1. ]] SLAMing on 105.75719347 meters Centerline goodness : 0.894006 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:-1.56 [[ 0.99149671 -0.11220549 -0.06591064 9.54178342] [ 0.11474078 0.99274229 0.03601806 0.29355986] [ 0.06139086 -0.04327442 0.99717525 -1.55890043] [ 0. 0. 0. 1. ]] SLAMing on 105.78719347 meters Centerline goodness : 0.896227 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:-1.56 [[ 0.99178046 -0.1102533 -0.06492859 9.54019342] [ 0.11277883 0.99294587 0.03659831 0.29129205] [ 0.06043549 -0.04362006 0.99721855 -1.55944443] [ 0. 0. 0. 1. ]] SLAMing on 105.81719347 meters Centerline goodness : 0.896574 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:-1.56 [[ 0.99212032 -0.10779512 -0.0638552 9.53750028] [ 0.11032375 0.99318862 0.03748384 0.28978241] [ 0.05937968 -0.04423322 0.99725497 -1.55886345] [ 0. 0. 0. 1. ]] SLAMing on 105.84719347 meters Centerline goodness : 0.902276 Centerline is valid? [False, False] Translation: X:9.53, Y:0.29, Z:-1.56 [[ 0.99300721 -0.0996478 -0.06330083 9.53420344] [ 0.10255182 0.99373588 0.0444087 0.28743447] [ 0.05847908 -0.05058977 0.99700595 -1.55711131] [ 0. 0. 0. 1. ]] SLAMing on 105.87719347 meters Centerline goodness : 0.899407 Centerline is valid? [False, False] Translation: X:9.53, Y:0.29, Z:-1.56 [[ 0.99323062 -0.09793796 -0.06245876 9.53252784] [ 0.1007976 0.99391572 0.04440022 0.28721233] [ 0.05773028 -0.05039535 0.99705944 -1.55748065] [ 0. 0. 0. 1. ]] SLAMing on 105.90719347 meters Centerline goodness : 0.900291 Centerline is valid? [False, False] Translation: X:9.53, Y:0.29, Z:-1.56 [[ 0.99339001 -0.09684529 -0.06162208 9.53197966] [ 0.09964687 0.9940435 0.04413647 0.28541867] [ 0.05698062 -0.04998517 0.99712321 -1.55893054] [ 0. 0. 0. 1. ]] SLAMing on 105.93719347 meters Centerline goodness : 0.899583 Centerline is valid? [False, False] Translation: X:9.53, Y:0.28, Z:-1.56 [[ 0.99331598 -0.09839346 -0.06034975 9.53169269] [ 0.10094601 0.99405459 0.04080897 0.28278952] [ 0.05597561 -0.04662826 0.99734274 -1.56104793] [ 0. 0. 0. 1. ]] SLAMing on 105.96719347 meters Centerline goodness : 0.901575 Centerline is valid? [False, False] Translation: X:9.54, Y:0.28, Z:-1.56 [[ 0.99281626 -0.10300797 -0.06087068 9.53576148] [ 0.10550374 0.99364163 0.03930984 0.27599671] [ 0.05643442 -0.04544954 0.99737129 -1.56274934] [ 0. 0. 0. 1. ]] SLAMing on 105.99719347 meters Centerline goodness : 0.901866 Centerline is valid? [False, False] Translation: X:9.54, Y:0.27, Z:-1.56 [[ 0.99240556 -0.1057602 -0.06281706 9.54005938] [ 0.108454 0.99325 0.0411359 0.27265447] [ 0.0580425 -0.04763626 0.99717694 -1.56171272] [ 0. 0. 0. 1. ]] SLAMing on 106.02719347 meters Centerline goodness : 0.900570 Centerline is valid? [False, False] Translation: X:9.55, Y:0.27, Z:-1.56 [[ 0.99098769 -0.11422725 -0.06996802 9.55153947] [ 0.11758102 0.99200471 0.04584057 0.26646539] [ 0.06417237 -0.05365435 0.99649542 -1.55840626] [ 0. 0. 0. 1. ]] SLAMing on 106.05719347 meters Centerline goodness : 0.895573 Centerline is valid? [False, False] Translation: X:9.55, Y:0.26, Z:-1.55 [[ 0.98992297 -0.11482026 -0.08287835 9.5494972 ] [ 0.11891976 0.99182217 0.04633441 0.26033539] [ 0.07688045 -0.05572337 0.99548194 -1.55265485] [ 0. 0. 0. 1. ]] SLAMing on 106.08719347 meters Centerline goodness : 0.900034 Centerline is valid? [False, False] Translation: X:9.55, Y:0.26, Z:-1.55 [[ 0.98927403 -0.11958912 -0.08387691 9.55308385] [ 0.12360517 0.99133651 0.04442608 0.25746222] [ 0.07783737 -0.05431719 0.9954853 -1.55251016] [ 0. 0. 0. 1. ]] SLAMing on 106.11719347 meters Centerline goodness : 0.892637 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.98871078 -0.12378551 -0.08442828 9.55635739] [ 0.12764654 0.99093179 0.04195885 0.25476763] [ 0.07846876 -0.05226215 0.99554574 -1.55337597] [ 0. 0. 0. 1. ]] SLAMing on 106.14719347 meters Centerline goodness : 0.896482 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.9879026 -0.12922845 -0.08572321 9.56148416] [ 0.13300877 0.99030992 0.0399366 0.25068518] [ 0.0797316 -0.05085541 0.99551826 -1.55420257] [ 0. 0. 0. 1. ]] SLAMing on 106.17719347 meters Centerline goodness : 0.892234 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.9876858 -0.13034496 -0.08652719 9.56301173] [ 0.13420061 0.9901334 0.04032416 0.25002314] [ 0.08041741 -0.05143961 0.99543308 -1.55356197] [ 0. 0. 0. 1. ]] SLAMing on 106.20719347 meters Centerline goodness : 0.890756 Centerline is valid? [False, False] Translation: X:9.56, Y:0.25, Z:-1.55 [[ 0.98744708 -0.13139654 -0.08765395 9.5647612 ] [ 0.13534706 0.98996048 0.04073607 0.25007094] [ 0.08142136 -0.05208842 0.99531772 -1.55258286] [ 0. 0. 0. 1. ]] SLAMing on 106.23719347 meters Centerline goodness : 0.893708 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98727406 -0.1320614 -0.08859861 9.56616404] [ 0.13611182 0.98983129 0.04132301 0.24987872] [ 0.0822405 -0.05285645 0.99520987 -1.55162053] [ 0. 0. 0. 1. ]] SLAMing on 106.26719347 meters Centerline goodness : 0.893637 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98684659 -0.13518292 -0.08865319 9.56573464] [ 0.1390937 0.98949111 0.03950046 0.24932339] [ 0.08238175 -0.05131199 0.99527902 -1.54977816] [ 0. 0. 0. 1. ]] SLAMing on 106.29719347 meters Centerline goodness : 0.892329 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98668703 -0.13591886 -0.08930159 9.56687983] [ 0.13986975 0.98937953 0.03955508 0.24914163] [ 0.08297688 -0.05151907 0.99521888 -1.54928984] [ 0. 0. 0. 1. ]] SLAMing on 106.32719347 meters Centerline goodness : 0.892314 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98650957 -0.13697522 -0.08964741 9.56736309] [ 0.14090322 0.98925364 0.03903226 0.25005107] [ 0.08333757 -0.0511373 0.99520843 -1.54883813] [ 0. 0. 0. 1. ]] SLAMing on 106.35719347 meters Centerline goodness : 0.894374 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98632523 -0.13775301 -0.09048013 9.56888929] [ 0.14172559 0.98913644 0.03902512 0.25111931] [ 0.08412137 -0.05131481 0.99513335 -1.54855041] [ 0. 0. 0. 1. ]] SLAMing on 106.38719347 meters Centerline goodness : 0.893332 Centerline is valid? [False, False] Translation: X:9.57, Y:0.25, Z:-1.55 [[ 0.98598477 -0.13971075 -0.09118628 9.56947455] [ 0.14360692 0.98891901 0.0376331 0.25357492] [ 0.0849181 -0.05020065 0.99512251 -1.54742872] [ 0. 0. 0. 1. ]] SLAMing on 106.41719347 meters Centerline goodness : 0.893922 Centerline is valid? [False, False] Translation: X:9.57, Y:0.26, Z:-1.55 [[ 0.98596234 -0.13993204 -0.09108941 9.56872269] [ 0.14374528 0.98893358 0.03671051 0.25587727] [ 0.08494441 -0.04928885 0.99516584 -1.54702232] [ 0. 0. 0. 1. ]] SLAMing on 106.44719347 meters Centerline goodness : 0.892198 Centerline is valid? [False, False] Translation: X:9.57, Y:0.26, Z:-1.55 [[ 0.98629569 -0.1368867 -0.09210231 9.56889904] [ 0.14102537 0.98919728 0.04000728 0.25746928] [ 0.08563089 -0.05244777 0.99494552 -1.54601003] [ 0. 0. 0. 1. ]] SLAMing on 106.47719347 meters Centerline goodness : 0.897576 Centerline is valid? [False, False] Translation: X:9.57, Y:0.26, Z:-1.54 [[ 0.98667406 -0.13358258 -0.09289781 9.56841892] [ 0.13801637 0.98949451 0.04303593 0.26012749] [ 0.08617302 -0.05528386 0.99474515 -1.54498214] [ 0. 0. 0. 1. ]] SLAMing on 106.50719347 meters Centerline goodness : 0.898302 Centerline is valid? [False, False] Translation: X:9.56, Y:0.27, Z:-1.54 [[ 0.9873264 -0.12899662 -0.09244699 9.5643332 ] [ 0.13337086 0.99014213 0.04278764 0.26942697] [ 0.08601619 -0.0545751 0.99479786 -1.54226314] [ 0. 0. 0. 1. ]] SLAMing on 106.53719347 meters Centerline goodness : 0.902491 Centerline is valid? [False, False] Translation: X:9.56, Y:0.27, Z:-1.54 [[ 0.98745049 -0.12842336 -0.09191831 9.56258557] [ 0.13259475 0.99033075 0.0407878 0.27439295] [ 0.08579142 -0.05246381 0.99493084 -1.54263024] [ 0. 0. 0. 1. ]] SLAMing on 106.56719347 meters Centerline goodness : 0.900525 Centerline is valid? [False, False] Translation: X:9.56, Y:0.28, Z:-1.54 [[ 0.98745332 -0.1282569 -0.09212012 9.56327506] [ 0.13225877 0.99045898 0.03871214 0.27916083] [ 0.0862761 -0.05041012 0.9949951 -1.54428443] [ 0. 0. 0. 1. ]] SLAMing on 106.59719347 meters Centerline goodness : 0.897326 Centerline is valid? [False, False] Translation: X:9.56, Y:0.29, Z:-1.55 [[ 0.98744256 -0.12827529 -0.09220978 9.56456432] [ 0.13197643 0.99062754 0.03520361 0.2867908 ] [ 0.0868298 -0.04693106 0.99511711 -1.54752342] [ 0. 0. 0. 1. ]] SLAMing on 106.62719347 meters Centerline goodness : 0.898804 Centerline is valid? [False, False] Translation: X:9.56, Y:0.29, Z:-1.55 [[ 0.98739244 -0.1285097 -0.09241982 9.56475226] [ 0.13211743 0.99065031 0.03401408 0.29023853] [ 0.08718458 -0.04579552 0.99513899 -1.54789605] [ 0. 0. 0. 1. ]] SLAMing on 106.65719347 meters Centerline goodness : 0.900092 Centerline is valid? [False, False] Translation: X:9.56, Y:0.29, Z:-1.55 [[ 0.98723303 -0.12943642 -0.09282866 9.56404325] [ 0.13298094 0.99056751 0.03304645 0.29407184] [ 0.08767564 -0.04496899 0.99513354 -1.5464509 ] [ 0. 0. 0. 1. ]] SLAMing on 106.68719347 meters Centerline goodness : 0.902833 Centerline is valid? [False, False] Translation: X:9.56, Y:0.30, Z:-1.54 [[ 0.98693101 -0.13087922 -0.09400964 9.56452037] [ 0.13447488 0.99036862 0.03296206 0.2978481 ] [ 0.08879015 -0.04517321 0.99502547 -1.5443785 ] [ 0. 0. 0. 1. ]] SLAMing on 106.71719347 meters Centerline goodness : 0.895785 Centerline is valid? [False, False] Translation: X:9.57, Y:0.30, Z:-1.54 [[ 0.98627836 -0.1342785 -0.09604308 9.5676321 ] [ 0.13788424 0.98993396 0.03191689 0.30318595] [ 0.09079055 -0.04472177 0.99486534 -1.5431719 ] [ 0. 0. 0. 1. ]] SLAMing on 106.74719347 meters Centerline goodness : 0.895471 Centerline is valid? [False, False] Translation: X:9.57, Y:0.31, Z:-1.55 [[ 0.98533913 -0.14019361 -0.09722422 9.57254199] [ 0.14345103 0.98927996 0.02733053 0.3060348 ] [ 0.0923504 -0.04087676 0.99488718 -1.54508462] [ 0. 0. 0. 1. ]] SLAMing on 106.77719347 meters Centerline goodness : 0.898077 Centerline is valid? [False, False] Translation: X:9.57, Y:0.31, Z:-1.54 [[ 0.98461354 -0.14529857 -0.0970799 9.57293985] [ 0.14812422 0.98871223 0.02252414 0.30870191] [ 0.09271136 -0.03655746 0.99502169 -1.54482617] [ 0. 0. 0. 1. ]] SLAMing on 106.80719347 meters Centerline goodness : 0.896840 Centerline is valid? [False, False] Translation: X:9.58, Y:0.31, Z:-1.55 [[ 0.98411267 -0.1473014 -0.09911888 9.57788171] [ 0.15022728 0.98839104 0.02269172 0.31123842] [ 0.09462569 -0.03722157 0.99481683 -1.54561846] [ 0. 0. 0. 1. ]] SLAMing on 106.83719347 meters Centerline goodness : 0.897030 Centerline is valid? [False, False] Translation: X:9.58, Y:0.31, Z:-1.55 [[ 0.98358639 -0.14999143 -0.10030151 9.58003373] [ 0.15283959 0.98802149 0.02129764 0.3145587 ] [ 0.09590558 -0.03627811 0.99472912 -1.54519137] [ 0. 0. 0. 1. ]] SLAMing on 106.86719347 meters Centerline goodness : 0.894994 Centerline is valid? [False, False] Translation: X:9.58, Y:0.32, Z:-1.55 [[ 0.98326771 -0.15096153 -0.10195704 9.58393048] [ 0.15389106 0.98785474 0.02146052 0.31782293] [ 0.09747903 -0.03679171 0.99455729 -1.54611966] [ 0. 0. 0. 1. ]] SLAMing on 106.89719347 meters Centerline goodness : 0.893522 Centerline is valid? [False, False] Translation: X:9.58, Y:0.32, Z:-1.54 [[ 0.98331188 -0.14981652 -0.10321223 9.58352035] [ 0.15292304 0.9879744 0.02282832 0.32377431] [ 0.09855098 -0.03823088 0.99439736 -1.5442767 ] [ 0. 0. 0. 1. ]] SLAMing on 106.92719347 meters Centerline goodness : 0.895768 Centerline is valid? [False, False] Translation: X:9.58, Y:0.33, Z:-1.54 [[ 0.98356259 -0.14730537 -0.10443065 9.58389824] [ 0.15070078 0.98825405 0.02536158 0.32739351] [ 0.09946812 -0.04068249 0.99420875 -1.54337463] [ 0. 0. 0. 1. ]] SLAMing on 106.95719347 meters Centerline goodness : 0.895352 Centerline is valid? [False, False] Translation: X:9.58, Y:0.33, Z:-1.54 [[ 0.98381968 -0.14485034 -0.10543818 9.58374237] [ 0.14846022 0.98854446 0.02719207 0.33195176] [ 0.10029155 -0.04240547 0.99405401 -1.54263264] [ 0. 0. 0. 1. ]] SLAMing on 106.98719347 meters Centerline goodness : 0.897242 Centerline is valid? [False, False] Translation: X:9.58, Y:0.34, Z:-1.54 [[ 0.98447774 -0.14081833 -0.10475583 9.580972 ] [ 0.14411643 0.98925561 0.02457233 0.34298665] [ 0.10017006 -0.03928795 0.99419436 -1.54322518] [ 0. 0. 0. 1. ]] SLAMing on 107.01719347 meters Centerline goodness : 0.898461 Centerline is valid? [False, False] Translation: X:9.58, Y:0.35, Z:-1.55 [[ 0.98495797 -0.13731742 -0.10488909 9.58087221] [ 0.14066118 0.98973853 0.02514095 0.34753816] [ 0.10036049 -0.03951661 0.99416609 -1.54512395] [ 0. 0. 0. 1. ]] SLAMing on 107.04719347 meters Centerline goodness : 0.898114 Centerline is valid? [False, False] Translation: X:9.58, Y:0.36, Z:-1.55 [[ 0.98601972 -0.13914964 -0.09166512 9.58147632] [ 0.14163002 0.98969472 0.02110213 0.35611263] [ 0.08778413 -0.03378965 0.99556627 -1.54923528] [ 0. 0. 0. 1. ]] SLAMing on 107.07719347 meters Centerline goodness : 0.900186 Centerline is valid? [False, False] Translation: X:9.58, Y:0.36, Z:-1.55 [[ 0.9867287 -0.13389383 -0.09186357 9.57926998] [ 0.13657326 0.99035118 0.02350054 0.36128634] [ 0.08783062 -0.03573477 0.99549425 -1.54875322] [ 0. 0. 0. 1. ]] SLAMing on 107.10719347 meters Centerline goodness : 0.902972 Centerline is valid? [False, False] Translation: X:9.57, Y:0.37, Z:-1.54 [[ 0.98854912 -0.12296501 -0.08746572 9.56798834] [ 0.12544672 0.99182328 0.0234456 0.37246564] [ 0.08386754 -0.03414942 0.99589159 -1.54357651] [ 0. 0. 0. 1. ]] SLAMing on 107.13719347 meters Centerline goodness : 0.897330 Centerline is valid? [False, False] Translation: X:9.57, Y:0.38, Z:-1.54 [[ 0.98917147 -0.11795055 -0.08733536 9.56650461] [ 0.12054674 0.99239139 0.02505609 0.37649919] [ 0.08371548 -0.03531276 0.99586381 -1.54454412] [ 0. 0. 0. 1. ]] SLAMing on 107.16719347 meters Centerline goodness : 0.897600 Centerline is valid? [False, False] Translation: X:9.56, Y:0.38, Z:-1.55 [[ 0.98999683 -0.12069597 -0.07306688 9.56492197] [ 0.12242977 0.99228129 0.01971799 0.38311764] [ 0.07012301 -0.02846631 0.9971321 -1.54822529] [ 0. 0. 0. 1. ]] SLAMing on 107.19719347 meters Centerline goodness : 0.899954 Centerline is valid? [False, False] Translation: X:9.57, Y:0.38, Z:-1.55 [[ 0.9904081 -0.11727771 -0.07305985 9.5656946 ] [ 0.11910512 0.99265606 0.0211641 0.38478593] [ 0.07004122 -0.0296629 0.99710297 -1.55057349] [ 0. 0. 0. 1. ]] SLAMing on 107.22719347 meters Centerline goodness : 0.900471 Centerline is valid? [False, False] Translation: X:9.56, Y:0.39, Z:-1.55 [[ 0.99060252 -0.1159029 -0.07261657 9.56378419] [ 0.11772107 0.99281899 0.02126497 0.38588454] [ 0.06963044 -0.02961364 0.99713321 -1.54979107] [ 0. 0. 0. 1. ]] SLAMing on 107.25719347 meters Centerline goodness : 0.891502 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.99067477 -0.12126495 -0.06211536 9.56815107] [ 0.12288106 0.99215761 0.02288042 0.38813289] [ 0.05885363 -0.03029986 0.99780668 -1.55260622] [ 0. 0. 0. 1. ]] SLAMing on 107.28719347 meters Centerline goodness : 0.897359 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.99046641 -0.12276982 -0.06248095 9.56713753] [ 0.12444467 0.99194477 0.02364538 0.3874461 ] [ 0.05907471 -0.03119538 0.99776602 -1.54957458] [ 0. 0. 0. 1. ]] SLAMing on 107.31719347 meters Centerline goodness : 0.891629 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.99023234 -0.12406798 -0.06361642 9.56908877] [ 0.12585752 0.99173517 0.02492448 0.38661056] [ 0.05999831 -0.03268763 0.99766313 -1.54847181] [ 0. 0. 0. 1. ]] SLAMing on 107.34719347 meters Centerline goodness : 0.893935 Centerline is valid? [False, False] Translation: X:9.57, Y:0.39, Z:-1.55 [[ 0.98964743 -0.12854137 -0.06383635 9.57335971] [ 0.13010934 0.99127666 0.02102737 0.38544938] [ 0.0605766 -0.02911539 0.99773883 -1.55190109] [ 0. 0. 0. 1. ]] SLAMing on 107.37719347 meters Centerline goodness : 0.883850 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.55 [[ 0.98933572 -0.1310838 -0.06349705 9.57578256] [ 0.13245276 0.99102886 0.01783413 0.38440769] [ 0.06058965 -0.0260543 0.99782266 -1.55478013] [ 0. 0. 0. 1. ]] SLAMing on 107.40719347 meters Centerline goodness : 0.884197 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.56 [[ 0.98903614 -0.1329711 -0.06423553 9.57810011] [ 0.13435096 0.99077674 0.01764262 0.3829702 ] [ 0.06129711 -0.0260793 0.9977788 -1.55500045] [ 0. 0. 0. 1. ]] SLAMing on 107.43719347 meters Centerline goodness : 0.883916 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.55 [[ 0.98857651 -0.13512085 -0.06677453 9.58254506] [ 0.13675852 0.99039074 0.02057409 0.38238746] [ 0.06335289 -0.02947105 0.99755595 -1.55343224] [ 0. 0. 0. 1. ]] SLAMing on 107.46719347 meters Centerline goodness : 0.881396 Centerline is valid? [False, False] Translation: X:9.58, Y:0.38, Z:-1.55 [[ 0.98844507 -0.13559497 -0.06775206 9.58407211] [ 0.1373314 0.99028867 0.02164329 0.38255844] [ 0.06415938 -0.03069769 0.99746741 -1.55270679] [ 0. 0. 0. 1. ]] SLAMing on 107.49719347 meters Centerline goodness : 0.880917 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.55 [[ 0.98845069 -0.13535509 -0.06814867 9.58555333] [ 0.13714643 0.99029951 0.02231001 0.38192313] [ 0.06446782 -0.0313987 0.9974257 -1.55344574] [ 0. 0. 0. 1. ]] SLAMing on 107.52719347 meters Centerline goodness : 0.887422 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98854569 -0.13458283 -0.06829988 9.58762849] [ 0.13641222 0.99038869 0.02284629 0.38089971] [ 0.06456871 -0.03190154 0.99740321 -1.5555938 ] [ 0. 0. 0. 1. ]] SLAMing on 107.55719347 meters Centerline goodness : 0.879612 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98840661 -0.13586165 -0.06777899 9.58944949] [ 0.13747306 0.99030991 0.01968372 0.38052859] [ 0.06444794 -0.0287733 0.99750617 -1.55865458] [ 0. 0. 0. 1. ]] SLAMing on 107.58719347 meters Centerline goodness : 0.879604 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98834297 -0.13594467 -0.06853627 9.59193095] [ 0.13763381 0.99027028 0.02053562 0.37999212] [ 0.06507772 -0.02972915 0.99743725 -1.55964285] [ 0. 0. 0. 1. ]] SLAMing on 107.61719347 meters Centerline goodness : 0.878483 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98823573 -0.13633199 -0.06930895 9.59357735] [ 0.13812136 0.9901777 0.02169368 0.37919959] [ 0.06567063 -0.03101152 0.99735934 -1.55936439] [ 0. 0. 0. 1. ]] SLAMing on 107.64719347 meters Centerline goodness : 0.878483 Centerline is valid? [False, False] Translation: X:9.59, Y:0.38, Z:-1.56 [[ 0.98823573 -0.13633199 -0.06930895 9.59357735] [ 0.13812136 0.9901777 0.02169368 0.37919959] [ 0.06567063 -0.03101152 0.99735934 -1.55936439] [ 0. 0. 0. 1. ]] SLAMing on 107.67719347 meters Centerline goodness : 0.877370 Centerline is valid? [False, False] Translation: X:9.60, Y:0.38, Z:-1.56 [[ 0.98814772 -0.13659572 -0.07004071 9.59505163] [ 0.13849431 0.99009647 0.02298513 0.37812376] [ 0.06620739 -0.03241294 0.99727929 -1.55893874] [ 0. 0. 0. 1. ]] SLAMing on 107.70719347 meters Centerline goodness : 0.877376 Centerline is valid? [False, False] Translation: X:9.60, Y:0.37, Z:-1.56 [[ 0.98792252 -0.13791746 -0.07062481 9.5979879 ] [ 0.13991424 0.98986958 0.02412938 0.37415356] [ 0.06658149 -0.03371937 0.99721107 -1.55971894] [ 0. 0. 0. 1. ]] SLAMing on 107.73719347 meters Centerline goodness : 0.878365 Centerline is valid? [False, False] Translation: X:9.60, Y:0.37, Z:-1.56 [[ 0.9878236 -0.13845429 -0.07095739 9.60061409] [ 0.14051688 0.98976444 0.02492712 0.37129866] [ 0.06677983 -0.0345943 0.99716783 -1.56118583] [ 0. 0. 0. 1. ]] SLAMing on 107.76719347 meters Centerline goodness : 0.880024 Centerline is valid? [False, False] Translation: X:9.60, Y:0.37, Z:-1.56 [[ 0.98773924 -0.13873476 -0.07158121 9.60247335] [ 0.14094273 0.98965624 0.02675205 0.36826004] [ 0.06712935 -0.0365129 0.99707595 -1.56099385] [ 0. 0. 0. 1. ]] SLAMing on 107.79719347 meters Centerline goodness : 0.881733 Centerline is valid? [False, False] Translation: X:9.60, Y:0.36, Z:-1.56 [[ 0.98759238 -0.13893744 -0.07319617 9.60390259] [ 0.14154158 0.98942605 0.03165559 0.36395268] [ 0.06802405 -0.04162312 0.99681505 -1.55727545] [ 0. 0. 0. 1. ]] SLAMing on 107.82719347 meters Centerline goodness : 0.881289 Centerline is valid? [False, False] Translation: X:9.60, Y:0.36, Z:-1.55 [[ 0.98744089 -0.13971504 -0.07375769 9.602967 ] [ 0.1424481 0.98924635 0.03316921 0.36301974] [ 0.06833029 -0.04325928 0.99672444 -1.55403216] [ 0. 0. 0. 1. ]] SLAMing on 107.85719347 meters Centerline goodness : 0.880921 Centerline is valid? [False, False] Translation: X:9.60, Y:0.36, Z:-1.55 [[ 0.98732978 -0.13989507 -0.07489513 9.60414856] [ 0.14282043 0.98912187 0.03521713 0.36232897] [ 0.06915371 -0.04546748 0.99656935 -1.55224959] [ 0. 0. 0. 1. ]] SLAMing on 107.88719347 meters Centerline goodness : 0.880007 Centerline is valid? [False, False] Translation: X:9.61, Y:0.36, Z:-1.55 [[ 0.98704303 -0.1416493 -0.07537589 9.60695836] [ 0.14460525 0.98885978 0.03529395 0.35946551] [ 0.06953682 -0.0457364 0.99653039 -1.55321354] [ 0. 0. 0. 1. ]] SLAMing on 107.91719347 meters Centerline goodness : 0.879373 Centerline is valid? [False, False] Translation: X:9.61, Y:0.36, Z:-1.56 [[ 0.98692572 -0.14217567 -0.07591909 9.61072371] [ 0.14518177 0.98876296 0.03563784 0.35716043] [ 0.06999915 -0.04619397 0.99647691 -1.55581692] [ 0. 0. 0. 1. ]] SLAMing on 107.94719347 meters Centerline goodness : 0.880255 Centerline is valid? [False, False] Translation: X:9.61, Y:0.36, Z:-1.56 [[ 0.98665299 -0.14408251 -0.07586896 9.61284012] [ 0.14695993 0.98856518 0.0337885 0.35589683] [ 0.07013308 -0.04448722 0.99654515 -1.55754462] [ 0. 0. 0. 1. ]] SLAMing on 107.97719347 meters Centerline goodness : 0.879465 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98642624 -0.14524637 -0.07659487 9.61512751] [ 0.14817604 0.98837521 0.0340339 0.35505202] [ 0.07076117 -0.04492145 0.99648127 -1.55791179] [ 0. 0. 0. 1. ]] SLAMing on 108.00719347 meters Centerline goodness : 0.878949 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98602111 -0.14729007 -0.0778974 9.61747572] [ 0.15029427 0.9880499 0.03419103 0.35601869] [ 0.07193052 -0.04542061 0.99637491 -1.55703459] [ 0. 0. 0. 1. ]] SLAMing on 108.03719347 meters Centerline goodness : 0.875979 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98598075 -0.14694697 -0.07904772 9.62010418] [ 0.15008885 0.98803993 0.03536148 0.35713401] [ 0.07290605 -0.04672992 0.99624346 -1.55773111] [ 0. 0. 0. 1. ]] SLAMing on 108.06719347 meters Centerline goodness : 0.876573 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98597468 -0.14694222 -0.0791323 9.62020292] [ 0.15005215 0.98806292 0.03487149 0.35849923] [ 0.07306359 -0.04625638 0.99625401 -1.55793588] [ 0. 0. 0. 1. ]] SLAMing on 108.09719347 meters Centerline goodness : 0.876932 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98608259 -0.14643978 -0.07871802 9.62044533] [ 0.14940886 0.98821723 0.03322193 0.36021209] [ 0.07292549 -0.04452074 0.9963432 -1.55996621] [ 0. 0. 0. 1. ]] SLAMing on 108.12719347 meters Centerline goodness : 0.879396 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98611636 -0.14619635 -0.07874737 9.62246308] [ 0.14910693 0.9882897 0.03241291 0.3603038 ] [ 0.07308657 -0.04370468 0.99636753 -1.56255093] [ 0. 0. 0. 1. ]] SLAMing on 108.15719347 meters Centerline goodness : 0.880355 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98604969 -0.14636799 -0.07926172 9.62416488] [ 0.14929442 0.98826456 0.03231603 0.36068857] [ 0.07360151 -0.04369854 0.99632989 -1.56346509] [ 0. 0. 0. 1. ]] SLAMing on 108.18719347 meters Centerline goodness : 0.878994 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98598605 -0.14666887 -0.07949687 9.62399986] [ 0.14960293 0.98821941 0.03227008 0.36183456] [ 0.07382733 -0.04371081 0.99631265 -1.56275711] [ 0. 0. 0. 1. ]] SLAMing on 108.21719347 meters Centerline goodness : 0.878521 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.56 [[ 0.98634745 -0.14361293 -0.08058552 9.62479424] [ 0.14685841 0.98850672 0.0358759 0.36280846] [ 0.07450709 -0.04722076 0.99610185 -1.56208796] [ 0. 0. 0. 1. ]] SLAMing on 108.24719347 meters Centerline goodness : 0.882646 Centerline is valid? [False, False] Translation: X:9.63, Y:0.36, Z:-1.56 [[ 0.98648917 -0.14230125 -0.08117556 9.62636577] [ 0.14566579 0.98863715 0.03712228 0.36345731] [ 0.07497063 -0.04844523 0.99600827 -1.56299195] [ 0. 0. 0. 1. ]] SLAMing on 108.27719347 meters Centerline goodness : 0.884272 Centerline is valid? [False, False] Translation: X:9.63, Y:0.36, Z:-1.56 [[ 0.98647788 -0.14225451 -0.08139435 9.62582185] [ 0.14566403 0.98862018 0.03757836 0.36394537] [ 0.0751224 -0.04892645 0.99597331 -1.56173007] [ 0. 0. 0. 1. ]] SLAMing on 108.30719347 meters Centerline goodness : 0.885005 Centerline is valid? [False, False] Translation: X:9.63, Y:0.36, Z:-1.56 [[ 0.9864855 -0.14213885 -0.08150397 9.62513238] [ 0.14558855 0.98861355 0.03804226 0.36459257] [ 0.07516864 -0.04939419 0.99594673 -1.56054599] [ 0. 0. 0. 1. ]] SLAMing on 108.33719347 meters Centerline goodness : 0.882750 Centerline is valid? [False, False] Translation: X:9.62, Y:0.37, Z:-1.56 [[ 0.98633007 -0.14341475 -0.08114931 9.62359804] [ 0.14675952 0.98848579 0.0368442 0.36517355] [ 0.07493094 -0.04824998 0.99602073 -1.55911887] [ 0. 0. 0. 1. ]] SLAMing on 108.36719347 meters Centerline goodness : 0.885133 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98622533 -0.14366098 -0.08198242 9.6267515 ] [ 0.14707862 0.98842266 0.03726279 0.36502517] [ 0.07568007 -0.04880737 0.99593693 -1.56080405] [ 0. 0. 0. 1. ]] SLAMing on 108.39719347 meters Centerline goodness : 0.882530 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98578183 -0.14602762 -0.08312711 9.62941316] [ 0.14948681 0.9880712 0.03699985 0.36619832] [ 0.07673251 -0.04890019 0.99585184 -1.56071678] [ 0. 0. 0. 1. ]] SLAMing on 108.42719347 meters Centerline goodness : 0.883233 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98551349 -0.14738571 -0.08390838 9.6302128 ] [ 0.15087175 0.98786783 0.03680859 0.36801217] [ 0.07746533 -0.04893476 0.99579341 -1.55964507] [ 0. 0. 0. 1. ]] SLAMing on 108.45719347 meters Centerline goodness : 0.885603 Centerline is valid? [False, False] Translation: X:9.63, Y:0.37, Z:-1.56 [[ 0.98536303 -0.14783794 -0.08487423 9.63156246] [ 0.1514174 0.98776303 0.03737593 0.37023255] [ 0.07831005 -0.04968029 0.99569042 -1.55923822] [ 0. 0. 0. 1. ]] SLAMing on 108.48719347 meters Centerline goodness : 0.883912 Centerline is valid? [False, False] Translation: X:9.63, Y:0.38, Z:-1.56 [[ 0.98522584 -0.14856095 -0.08520386 9.63068607] [ 0.15204208 0.98772179 0.03590092 0.37586066] [ 0.07882423 -0.04832508 0.99571654 -1.55829113] [ 0. 0. 0. 1. ]] SLAMing on 108.51719347 meters Centerline goodness : 0.885765 Centerline is valid? [False, False] Translation: X:9.63, Y:0.38, Z:-1.56 [[ 0.9851773 -0.14889511 -0.08518179 9.63029027] [ 0.15227388 0.9877321 0.0346117 0.37865058] [ 0.07898327 -0.04706962 0.99576408 -1.55836757] [ 0. 0. 0. 1. ]] SLAMing on 108.54719347 meters Centerline goodness : 0.886898 Centerline is valid? [False, False] Translation: X:9.63, Y:0.38, Z:-1.56 [[ 0.98516842 -0.14889274 -0.08528855 9.63109303] [ 0.15218537 0.98778526 0.03346487 0.38082461] [ 0.0792641 -0.04594821 0.99579414 -1.55967126] [ 0. 0. 0. 1. ]] SLAMing on 108.57719347 meters Centerline goodness : 0.883320 Centerline is valid? [False, False] Translation: X:9.63, Y:0.39, Z:-1.56 [[ 0.98512674 -0.14917074 -0.08528417 9.6315574 ] [ 0.15226994 0.98785161 0.03103315 0.38556942] [ 0.07961886 -0.0435578 0.99587326 -1.56151442] [ 0. 0. 0. 1. ]] SLAMing on 108.60719347 meters Centerline goodness : 0.884569 Centerline is valid? [False, False] Translation: X:9.63, Y:0.39, Z:-1.56 [[ 0.98516592 -0.14871235 -0.0856315 9.6314305 ] [ 0.15180809 0.98792948 0.03081629 0.38848543] [ 0.08001512 -0.04335872 0.99585019 -1.5613098 ] [ 0. 0. 0. 1. ]] SLAMing on 108.63719347 meters Centerline goodness : 0.882711 Centerline is valid? [False, False] Translation: X:9.63, Y:0.39, Z:-1.56 [[ 0.98539622 -0.14646179 -0.08685184 9.63234707] [ 0.14981365 0.98815046 0.0333847 0.39158525] [ 0.0809331 -0.04590875 0.9956617 -1.56092686] [ 0. 0. 0. 1. ]] SLAMing on 108.66719347 meters Centerline goodness : 0.881224 Centerline is valid? [False, False] Translation: X:9.63, Y:0.40, Z:-1.56 [[ 0.98617715 -0.14023361 -0.08825624 9.63234848] [ 0.1440004 0.98885401 0.03783686 0.39812512] [ 0.08196654 -0.05002278 0.99537893 -1.56105321] [ 0. 0. 0. 1. ]] SLAMing on 108.69719347 meters Centerline goodness : 0.881224 Centerline is valid? [False, False] Translation: X:9.63, Y:0.40, Z:-1.56 [[ 0.98617715 -0.14023361 -0.08825624 9.63234848] [ 0.1440004 0.98885401 0.03783686 0.39812512] [ 0.08196654 -0.05002278 0.99537893 -1.56105321] [ 0. 0. 0. 1. ]] SLAMing on 108.72719347 meters Centerline goodness : 0.879205 Centerline is valid? [False, False] Translation: X:9.63, Y:0.40, Z:-1.57 [[ 0.98740081 -0.13141867 -0.08814061 9.63220487] [ 0.13542775 0.98993287 0.04113672 0.40299109] [ 0.08184715 -0.05255512 0.99525826 -1.56505985] [ 0. 0. 0. 1. ]] SLAMing on 108.75719347 meters Centerline goodness : 0.879414 Centerline is valid? [False, False] Translation: X:9.63, Y:0.41, Z:-1.57 [[ 0.98838942 -0.13220484 -0.07488821 9.63429567] [ 0.13543174 0.98998831 0.03976664 0.40803987] [ 0.06888111 -0.04944717 0.9963987 -1.57159907] [ 0. 0. 0. 1. ]] SLAMing on 108.78719347 meters Centerline goodness : 0.883821 Centerline is valid? [False, False] Translation: X:9.63, Y:0.41, Z:-1.57 [[ 0.98900956 -0.12738514 -0.07505416 9.63469782] [ 0.13077098 0.99052035 0.04205207 0.40935704] [ 0.06898587 -0.05140481 0.99629237 -1.57357827] [ 0. 0. 0. 1. ]] SLAMing on 108.81719347 meters Centerline goodness : 0.880340 Centerline is valid? [False, False] Translation: X:9.63, Y:0.41, Z:-1.58 [[ 0.98974818 -0.12165562 -0.07482285 9.63392915] [ 0.12524223 0.99109348 0.04525592 0.41041435] [ 0.0686508 -0.05416295 0.99616938 -1.57507529] [ 0. 0. 0. 1. ]] SLAMing on 108.84719347 meters Centerline goodness : 0.884986 Centerline is valid? [False, False] Translation: X:9.63, Y:0.42, Z:-1.58 [[ 0.99151325 -0.11441384 -0.06173289 9.63140772] [ 0.11743384 0.99193318 0.04772689 0.41604239] [ 0.05577429 -0.05457137 0.99695095 -1.5768454 ] [ 0. 0. 0. 1. ]] SLAMing on 108.87719347 meters Centerline goodness : 0.884760 Centerline is valid? [False, False] Translation: X:9.63, Y:0.42, Z:-1.58 [[ 0.99219848 -0.10847942 -0.06143609 9.62970808] [ 0.11167347 0.99242601 0.05118248 0.41671916] [ 0.05541853 -0.05764396 0.99679785 -1.57710376] [ 0. 0. 0. 1. ]] SLAMing on 108.90719347 meters Centerline goodness : 0.884499 Centerline is valid? [False, False] Translation: X:9.63, Y:0.42, Z:-1.58 [[ 0.99282019 -0.10336358 -0.06019993 9.62689307] [ 0.10656684 0.99290927 0.0526753 0.41621509] [ 0.05432836 -0.05871242 0.99679551 -1.57782379] [ 0. 0. 0. 1. ]] SLAMing on 108.93719347 meters Centerline goodness : 0.883256 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99329417 -0.09979416 -0.05837656 9.6241632 ] [ 0.10286768 0.99332181 0.05224966 0.41491718] [ 0.05277249 -0.05790434 0.99692635 -1.57949241] [ 0. 0. 0. 1. ]] SLAMing on 108.96719347 meters Centerline goodness : 0.885005 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99384126 -0.09627161 -0.05487559 9.61946489] [ 0.09899751 0.9938643 0.04932797 0.41101976] [ 0.04979 -0.05445672 0.997274 -1.58221967] [ 0. 0. 0. 1. ]] SLAMing on 108.99719347 meters Centerline goodness : 0.884934 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99376853 -0.09761326 -0.05381228 9.61759862] [ 0.10016342 0.99386401 0.04692149 0.40910713] [ 0.04890193 -0.05201912 0.99744805 -1.58167572] [ 0. 0. 0. 1. ]] SLAMing on 109.02719347 meters Centerline goodness : 0.883340 Centerline is valid? [False, False] Translation: X:9.62, Y:0.41, Z:-1.58 [[ 0.99359213 -0.09983157 -0.05299367 9.61674937] [ 0.10222365 0.99376448 0.044525 0.4064027 ] [ 0.04821822 -0.0496569 0.99760172 -1.58143704] [ 0. 0. 0. 1. ]] SLAMing on 109.05719347 meters Centerline goodness : 0.883505 Centerline is valid? [False, False] Translation: X:9.62, Y:0.40, Z:-1.58 [[ 0.99331697 -0.10284445 -0.05238721 9.61687136] [ 0.10508865 0.99357349 0.0420487 0.40256033] [ 0.04772607 -0.04727299 0.99774119 -1.58148904] [ 0. 0. 0. 1. ]] SLAMing on 109.08719347 meters Centerline goodness : 0.880322 Centerline is valid? [False, False] Translation: X:9.62, Y:0.39, Z:-1.58 [[ 0.99295122 -0.10704397 -0.05088672 9.61821984] [ 0.10909788 0.99324771 0.03945437 0.39149716] [ 0.04631977 -0.0447279 0.99792479 -1.58336957] [ 0. 0. 0. 1. ]] SLAMing on 109.11719347 meters Centerline goodness : 0.878107 Centerline is valid? [False, False] Translation: X:9.62, Y:0.39, Z:-1.58 [[ 0.9926009 -0.11015867 -0.05107365 9.61990325] [ 0.11210835 0.99300627 0.03701719 0.38757728] [ 0.04663869 -0.04246907 0.99800862 -1.58346825] [ 0. 0. 0. 1. ]] SLAMing on 109.14719347 meters Centerline goodness : 0.876561 Centerline is valid? [False, False] Translation: X:9.62, Y:0.38, Z:-1.58 [[ 0.99282966 -0.10853182 -0.05010092 9.6203068 ] [ 0.11057575 0.99306247 0.03999928 0.3770614 ] [ 0.04541214 -0.04525242 0.99794286 -1.58431914] [ 0. 0. 0. 1. ]] SLAMing on 109.17719347 meters Centerline goodness : 0.877547 Centerline is valid? [False, False] Translation: X:9.62, Y:0.37, Z:-1.59 [[ 0.99310839 -0.10647778 -0.04897153 9.61981113] [ 0.10848072 0.99328393 0.0402365 0.37161618] [ 0.04435834 -0.04527167 0.99798939 -1.58600654] [ 0. 0. 0. 1. ]] SLAMing on 109.20719347 meters Centerline goodness : 0.877305 Centerline is valid? [False, False] Translation: X:9.62, Y:0.37, Z:-1.59 [[ 0.99326032 -0.10550296 -0.04799029 9.61989648] [ 0.10743026 0.99342671 0.03952358 0.36621187] [ 0.04350498 -0.04441282 0.99806554 -1.58787147] [ 0. 0. 0. 1. ]] SLAMing on 109.23719347 meters Centerline goodness : 0.878830 Centerline is valid? [False, False] Translation: X:9.62, Y:0.36, Z:-1.59 [[ 0.99317518 -0.10659974 -0.04732399 9.6210755 ] [ 0.10845121 0.99335813 0.03844427 0.36072842] [ 0.04291152 -0.04331424 0.99813951 -1.58951857] [ 0. 0. 0. 1. ]] SLAMing on 109.26719347 meters Centerline goodness : 0.880313 Centerline is valid? [False, False] Translation: X:9.62, Y:0.35, Z:-1.59 [[ 0.99279418 -0.10374488 -0.05997264 9.62088183] [ 0.10627921 0.99350181 0.04072943 0.3509354 ] [ 0.05535746 -0.04680979 0.99736874 -1.58706683] [ 0. 0. 0. 1. ]] SLAMing on 109.29719347 meters Centerline goodness : 0.878349 Centerline is valid? [False, False] Translation: X:9.63, Y:0.33, Z:-1.59 [[ 0.99178899 -0.11117853 -0.06319756 9.6289405 ] [ 0.11404687 0.99251192 0.04374236 0.33444589] [ 0.05786112 -0.05059068 0.99704196 -1.58903485] [ 0. 0. 0. 1. ]] SLAMing on 109.32719347 meters Centerline goodness : 0.876493 Centerline is valid? [False, False] Translation: X:9.63, Y:0.33, Z:-1.59 [[ 0.99136868 -0.11464651 -0.06359489 9.63103821] [ 0.11759953 0.99204978 0.04480617 0.32649094] [ 0.05795243 -0.05189817 0.99696946 -1.58752266] [ 0. 0. 0. 1. ]] SLAMing on 109.35719347 meters Centerline goodness : 0.875328 Centerline is valid? [False, False] Translation: X:9.63, Y:0.32, Z:-1.59 [[ 0.99096716 -0.11790012 -0.06390342 9.63261191] [ 0.12089977 0.99163093 0.04529175 0.31932711] [ 0.05802871 -0.05260854 0.99692779 -1.58578753] [ 0. 0. 0. 1. ]] SLAMing on 109.38719347 meters Centerline goodness : 0.879561 Centerline is valid? [False, False] Translation: X:9.63, Y:0.31, Z:-1.58 [[ 0.99071796 -0.12009555 -0.0636788 9.63343169] [ 0.12309603 0.99135179 0.04548629 0.31225994] [ 0.05766539 -0.05290269 0.9969333 -1.58486485] [ 0. 0. 0. 1. ]] SLAMing on 109.41719347 meters Centerline goodness : 0.872869 Centerline is valid? [False, False] Translation: X:9.63, Y:0.30, Z:-1.59 [[ 0.99060314 -0.12193978 -0.06193633 9.63342466] [ 0.1248583 0.99112367 0.04565381 0.29782688] [ 0.05581954 -0.05295807 0.99703542 -1.58533619] [ 0. 0. 0. 1. ]] SLAMing on 109.44719347 meters Centerline goodness : 0.873810 Centerline is valid? [False, False] Translation: X:9.63, Y:0.29, Z:-1.59 [[ 0.99050997 -0.12313143 -0.0610627 9.63396392] [ 0.12595748 0.99102324 0.04480684 0.2914057 ] [ 0.05499742 -0.05207292 0.99712772 -1.58631138] [ 0. 0. 0. 1. ]] SLAMing on 109.47719347 meters Centerline goodness : 0.870516 Centerline is valid? [False, False] Translation: X:9.63, Y:0.28, Z:-1.59 [[ 0.99040617 -0.11797545 -0.07195424 9.63237102] [ 0.12164015 0.99137092 0.04886066 0.27578669] [ 0.06556898 -0.05714442 0.99621043 -1.58520852] [ 0. 0. 0. 1. ]] SLAMing on 109.50719347 meters Centerline goodness : 0.871395 Centerline is valid? [False, False] Translation: X:9.63, Y:0.27, Z:-1.59 [[ 0.9902103 -0.11986213 -0.07153064 9.63350351] [ 0.12341467 0.99121822 0.04748948 0.27075547] [ 0.06521029 -0.0558525 0.99630724 -1.58589316] [ 0. 0. 0. 1. ]] SLAMing on 109.53719347 meters Centerline goodness : 0.871395 Centerline is valid? [False, False] Translation: X:9.63, Y:0.27, Z:-1.59 [[ 0.9902103 -0.11986213 -0.07153064 9.63350351] [ 0.12341467 0.99121822 0.04748948 0.27075547] [ 0.06521029 -0.0558525 0.99630724 -1.58589316] [ 0. 0. 0. 1. ]] SLAMing on 109.56719347 meters Centerline goodness : 0.869468 Centerline is valid? [False, False] Translation: X:9.63, Y:0.27, Z:-1.59 [[ 0.99001196 -0.12185875 -0.07089972 9.63432746] [ 0.12528836 0.99104836 0.04610823 0.26542205] [ 0.06464636 -0.05453061 0.99641721 -1.58667311] [ 0. 0. 0. 1. ]] SLAMing on 109.59719347 meters Centerline goodness : 0.868992 Centerline is valid? [False, False] Translation: X:9.64, Y:0.25, Z:-1.59 [[ 0.98993331 -0.1230149 -0.06999554 9.63507422] [ 0.12646498 0.99084817 0.04718588 0.25204972] [ 0.06355038 -0.05556286 0.99643069 -1.58622645] [ 0. 0. 0. 1. ]] SLAMing on 109.62719347 meters Centerline goodness : 0.867804 Centerline is valid? [False, False] Translation: X:9.63, Y:0.25, Z:-1.59 [[ 0.98975458 -0.12478825 -0.06938128 9.63487711] [ 0.12814741 0.99067549 0.04626363 0.24663836] [ 0.06296118 -0.05468067 0.99651689 -1.58553405] [ 0. 0. 0. 1. ]] SLAMing on 109.65719347 meters Centerline goodness : 0.866770 Centerline is valid? [False, False] Translation: X:9.64, Y:0.24, Z:-1.59 [[ 0.98974917 -0.12425721 -0.07040402 9.63760305] [ 0.12786837 0.99056366 0.04932857 0.2406867 ] [ 0.06361023 -0.05782536 0.99629813 -1.58516151] [ 0. 0. 0. 1. ]] SLAMing on 109.68719347 meters Centerline goodness : 0.868366 Centerline is valid? [False, False] Translation: X:9.64, Y:0.23, Z:-1.59 [[ 0.98957643 -0.1258991 -0.0699135 9.63935306] [ 0.12947781 0.99035871 0.04924548 0.23083991] [ 0.06303948 -0.05778441 0.99633678 -1.58569592] [ 0. 0. 0. 1. ]] SLAMing on 109.71719347 meters Centerline goodness : 0.868254 Centerline is valid? [False, False] Translation: X:9.64, Y:0.22, Z:-1.59 [[ 0.98966159 -0.12505828 -0.07021653 9.64045308] [ 0.12882252 0.99030847 0.05190279 0.22469036] [ 0.06304515 -0.06041166 0.99618058 -1.58500658] [ 0. 0. 0. 1. ]] SLAMing on 109.74719347 meters Centerline goodness : 0.869387 Centerline is valid? [False, False] Translation: X:9.64, Y:0.22, Z:-1.58 [[ 0.98946686 -0.12703608 -0.06940586 9.63948305] [ 0.13068536 0.99012004 0.05082955 0.21986121] [ 0.06226295 -0.05936449 0.99629272 -1.58374005] [ 0. 0. 0. 1. ]] SLAMing on 109.77719347 meters Centerline goodness : 0.868249 Centerline is valid? [False, False] Translation: X:9.64, Y:0.21, Z:-1.58 [[ 0.98891861 -0.13125477 -0.06936983 9.63890112] [ 0.13495545 0.98950473 0.05164705 0.20965919] [ 0.06186285 -0.06043657 0.99625318 -1.57884777] [ 0. 0. 0. 1. ]] SLAMing on 109.80719347 meters Centerline goodness : 0.870196 Centerline is valid? [False, False] Translation: X:9.64, Y:0.21, Z:-1.58 [[ 0.98844088 -0.13483619 -0.06930969 9.63979345] [ 0.1384135 0.98912766 0.04968075 0.20584985] [ 0.06185737 -0.05869989 0.99635736 -1.57790375] [ 0. 0. 0. 1. ]] SLAMing on 109.83719347 meters Centerline goodness : 0.871501 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98798009 -0.13822365 -0.0692066 9.64097092] [ 0.14165399 0.98878226 0.04736862 0.20281125] [ 0.0618828 -0.05660265 0.99647712 -1.57772517] [ 0. 0. 0. 1. ]] SLAMing on 109.86719347 meters Centerline goodness : 0.869386 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98758719 -0.14098588 -0.06924248 9.6426525 ] [ 0.14426238 0.98852369 0.04482501 0.20118051] [ 0.06212813 -0.05425769 0.99659229 -1.57830562] [ 0. 0. 0. 1. ]] SLAMing on 109.89719347 meters Centerline goodness : 0.870386 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98763175 -0.14067259 -0.06924418 9.64326584] [ 0.14400596 0.9885191 0.04574129 0.19812043] [ 0.06201465 -0.05514712 0.99655054 -1.57837536] [ 0. 0. 0. 1. ]] SLAMing on 109.92719347 meters Centerline goodness : 0.865662 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98765678 -0.1405289 -0.06917883 9.6436131 ] [ 0.14386162 0.98853782 0.04579097 0.1973905 ] [ 0.06195094 -0.05517794 0.9965528 -1.57882098] [ 0. 0. 0. 1. ]] SLAMing on 109.95719347 meters Centerline goodness : 0.864642 Centerline is valid? [False, False] Translation: X:9.64, Y:0.20, Z:-1.58 [[ 0.98738437 -0.1430524 -0.06788313 9.64264271] [ 0.14607731 0.98838598 0.04188773 0.19790703] [ 0.0611026 -0.05127548 0.99681357 -1.57997497] [ 0. 0. 0. 1. ]] SLAMing on 109.98719347 meters Centerline goodness : 0.861074 Centerline is valid? [False, False] Translation: X:9.64, Y:0.19, Z:-1.58 [[ 0.98681085 -0.14022303 -0.08088171 9.64219111] [ 0.14397102 0.98866853 0.04250739 0.19213825] [ 0.07400469 -0.05359138 0.99581689 -1.57700965] [ 0. 0. 0. 1. ]] SLAMing on 110.01719347 meters Centerline goodness : 0.860331 Centerline is valid? [False, False] Translation: X:9.64, Y:0.19, Z:-1.58 [[ 0.98643343 -0.142609 -0.08131279 9.64497162] [ 0.14623348 0.9884214 0.04048329 0.19157727] [ 0.07459802 -0.05182473 0.99586612 -1.57815719] [ 0. 0. 0. 1. ]] SLAMing on 110.04719347 meters Centerline goodness : 0.859161 Centerline is valid? [False, False] Translation: X:9.65, Y:0.19, Z:-1.58 [[ 0.9862264 -0.1433272 -0.08255187 9.64772161] [ 0.14712121 0.98823306 0.04184214 0.18878842] [ 0.07558337 -0.05341096 0.995708 -1.57751787] [ 0. 0. 0. 1. ]] SLAMing on 110.07719347 meters Centerline goodness : 0.860740 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.57 [[ 0.98505141 -0.14467656 -0.0935009 9.64271652] [ 0.14902928 0.9879681 0.04134375 0.18039258] [ 0.08639444 -0.05466009 0.99476041 -1.57318784] [ 0. 0. 0. 1. ]] SLAMing on 110.10719347 meters Centerline goodness : 0.858985 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.57 [[ 0.98467415 -0.14726929 -0.09342683 9.64477486] [ 0.15139021 0.98771883 0.03863317 0.17934525] [ 0.08658996 -0.05218499 0.99487633 -1.57452949] [ 0. 0. 0. 1. ]] SLAMing on 110.13719347 meters Centerline goodness : 0.860574 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.57 [[ 0.98469502 -0.14680123 -0.09394212 9.64593958] [ 0.1510337 0.98773453 0.03961463 0.17811109] [ 0.0869744 -0.05319676 0.9947892 -1.57447737] [ 0. 0. 0. 1. ]] SLAMing on 110.16719347 meters Centerline goodness : 0.861068 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.57 [[ 0.98476126 -0.14644524 -0.09380324 9.64550755] [ 0.15067889 0.98778424 0.03972609 0.17832233] [ 0.08683966 -0.05325488 0.99479786 -1.57434698] [ 0. 0. 0. 1. ]] SLAMing on 110.19719347 meters Centerline goodness : 0.859814 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.58 [[ 0.98517664 -0.14378132 -0.09356237 9.64590396] [ 0.14808915 0.98813126 0.0408194 0.17769269] [ 0.08658283 -0.05406989 0.99477629 -1.57574325] [ 0. 0. 0. 1. ]] SLAMing on 110.22719347 meters Centerline goodness : 0.860788 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.58 [[ 0.98537031 -0.14289145 -0.09288375 9.64510724] [ 0.1471383 0.98828349 0.04057162 0.17803113] [ 0.08599813 -0.05364483 0.99485002 -1.57668638] [ 0. 0. 0. 1. ]] SLAMing on 110.25719347 meters Centerline goodness : 0.860824 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98558692 -0.14163473 -0.0925096 9.64477774] [ 0.14584396 0.98848185 0.04041253 0.17911199] [ 0.08572024 -0.05332202 0.99489135 -1.57770816] [ 0. 0. 0. 1. ]] SLAMing on 110.28719347 meters Centerline goodness : 0.861852 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98578345 -0.14073409 -0.09178728 9.64354162] [ 0.14486469 0.98864355 0.03997679 0.18036289] [ 0.08511881 -0.0527052 0.99497585 -1.57837961] [ 0. 0. 0. 1. ]] SLAMing on 110.31719347 meters Centerline goodness : 0.861912 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98609645 -0.13905899 -0.09097467 9.64154152] [ 0.14313082 0.98890125 0.03984822 0.18192404] [ 0.08442371 -0.05231546 0.99505564 -1.57841313] [ 0. 0. 0. 1. ]] SLAMing on 110.34719347 meters Centerline goodness : 0.862770 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98611307 -0.1388063 -0.09118022 9.64209831] [ 0.14291414 0.98892027 0.04015282 0.18166253] [ 0.0845965 -0.05262617 0.99502458 -1.57847933] [ 0. 0. 0. 1. ]] SLAMing on 110.37719347 meters Centerline goodness : 0.861798 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98603303 -0.13928101 -0.09132181 9.64252249] [ 0.14341488 0.98883957 0.04035436 0.18048572] [ 0.08468203 -0.05288764 0.99500344 -1.57811185] [ 0. 0. 0. 1. ]] SLAMing on 110.40719347 meters Centerline goodness : 0.860678 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98558885 -0.14277885 -0.09071285 9.64252338] [ 0.14661164 0.98849961 0.03706148 0.17988092] [ 0.08437802 -0.04982694 0.99518723 -1.57807991] [ 0. 0. 0. 1. ]] SLAMing on 110.43719347 meters Centerline goodness : 0.862169 Centerline is valid? [False, False] Translation: X:9.64, Y:0.18, Z:-1.58 [[ 0.98491127 -0.14729835 -0.0908459 9.64361204] [ 0.15092694 0.98794551 0.03441977 0.17721044] [ 0.08468082 -0.04761151 0.99526996 -1.57677663] [ 0. 0. 0. 1. ]] SLAMing on 110.46719347 meters Centerline goodness : 0.858571 Centerline is valid? [False, False] Translation: X:9.65, Y:0.18, Z:-1.58 [[ 0.98473377 -0.1479912 -0.09164061 9.64545697] [ 0.15170909 0.98780567 0.03499018 0.17552536] [ 0.08534488 -0.04835873 0.99517721 -1.57649112] [ 0. 0. 0. 1. ]] SLAMing on 110.49719347 meters Centerline goodness : 0.859304 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98428164 -0.1508727 -0.09179913 9.64841661] [ 0.15435882 0.98749326 0.03210024 0.17471017] [ 0.08580797 -0.04576568 0.99526001 -1.57836205] [ 0. 0. 0. 1. ]] SLAMing on 110.52719347 meters Centerline goodness : 0.861046 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98353831 -0.14852931 -0.10291472 9.64600548] [ 0.15253483 0.9877745 0.03216624 0.16562397] [ 0.09687891 -0.0473348 0.99416995 -1.57567279] [ 0. 0. 0. 1. ]] SLAMing on 110.55719347 meters Centerline goodness : 0.858241 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:-1.58 [[ 0.9832615 -0.15120039 -0.10166251 9.64448869] [ 0.15483635 0.98751927 0.02883382 0.16574224] [ 0.096034 -0.04409223 0.994401 -1.57588511] [ 0. 0. 0. 1. ]] SLAMing on 110.58719347 meters Centerline goodness : 0.865426 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:-1.58 [[ 0.98335841 -0.15051096 -0.10174813 9.64445673] [ 0.15419231 0.98760647 0.02929502 0.16596294] [ 0.09607789 -0.04449628 0.99437876 -1.57576743] [ 0. 0. 0. 1. ]] SLAMing on 110.61719347 meters Centerline goodness : 0.861106 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98379587 -0.1466299 -0.10317633 9.64592445] [ 0.15077363 0.98799928 0.03353707 0.16590854] [ 0.0970206 -0.0485499 0.99409754 -1.57530735] [ 0. 0. 0. 1. ]] SLAMing on 110.64719347 meters Centerline goodness : 0.860534 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98390528 -0.14601859 -0.10299981 9.64604163] [ 0.15009488 0.98812201 0.03296083 0.16760523] [ 0.09696349 -0.04789008 0.99413511 -1.57639379] [ 0. 0. 0. 1. ]] SLAMing on 110.67719347 meters Centerline goodness : 0.856395 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:-1.58 [[ 0.98395614 -0.14546587 -0.10329565 9.64788013] [ 0.14962513 0.98816876 0.03368717 0.16558428] [ 0.0971732 -0.04860232 0.99408007 -1.57759843] [ 0. 0. 0. 1. ]] SLAMing on 110.70719347 meters Centerline goodness : 0.857510 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.98367935 -0.1475317 -0.10300164 9.64961604] [ 0.15143715 0.98797616 0.03114321 0.16387683] [ 0.09716856 -0.04623321 0.99419352 -1.57911489] [ 0. 0. 0. 1. ]] SLAMing on 110.73719347 meters Centerline goodness : 0.856739 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.98321935 -0.15074687 -0.10273798 9.65059665] [ 0.15450008 0.98755035 0.02956404 0.15903219] [ 0.09700224 -0.04494096 0.99426902 -1.57855525] [ 0. 0. 0. 1. ]] SLAMing on 110.76719347 meters Centerline goodness : 0.858207 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.98304519 -0.15148021 -0.10332428 9.65160096] [ 0.15529666 0.98741517 0.02990365 0.15840936] [ 0.09749415 -0.04544256 0.9941981 -1.57788919] [ 0. 0. 0. 1. ]] SLAMing on 110.79719347 meters Centerline goodness : 0.859490 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.9828456 -0.15204243 -0.10439174 9.65319 ] [ 0.15596812 0.98729156 0.03048492 0.15822959] [ 0.09843008 -0.04624375 0.99406893 -1.57685922] [ 0. 0. 0. 1. ]] SLAMing on 110.82719347 meters Centerline goodness : 0.856027 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.58 [[ 0.9826475 -0.15254514 -0.10551721 9.6547221 ] [ 0.1566445 0.98714713 0.03167099 0.15688234] [ 0.09932975 -0.04765011 0.99391301 -1.57539528] [ 0. 0. 0. 1. ]] SLAMing on 110.85719347 meters Centerline goodness : 0.857215 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:-1.57 [[ 0.98209079 -0.15632841 -0.10516231 9.65402984] [ 0.16012923 0.98667951 0.02867374 0.15617343] [ 0.09927898 -0.04499977 0.9940416 -1.57377527] [ 0. 0. 0. 1. ]] SLAMing on 110.88719347 meters Centerline goodness : 0.854271 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.98129836 -0.16203106 -0.10392051 9.65081216] [ 0.16550251 0.98587594 0.02564287 0.1519505 ] [ 0.09829779 -0.04236241 0.99425498 -1.56936981] [ 0. 0. 0. 1. ]] SLAMing on 110.91719347 meters Centerline goodness : 0.854138 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.98065529 -0.16628695 -0.10326593 9.65052356] [ 0.16937623 0.98530939 0.02184268 0.15200563] [ 0.09811674 -0.03891093 0.99441392 -1.5689251 ] [ 0. 0. 0. 1. ]] SLAMing on 110.94719347 meters Centerline goodness : 0.858962 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.98004597 -0.16981461 -0.10330974 9.65301302] [ 0.17258686 0.98482151 0.01844912 0.15304203] [ 0.09860873 -0.03591089 0.99447812 -1.57041564] [ 0. 0. 0. 1. ]] SLAMing on 110.97719347 meters Centerline goodness : 0.853862 Centerline is valid? [False, False] Translation: X:9.65, Y:0.15, Z:-1.57 [[ 0.97974431 -0.17140284 -0.10354778 9.65425278] [ 0.17404945 0.9845898 0.01702085 0.15468949] [ 0.09903467 -0.03469851 0.99447883 -1.57113428] [ 0. 0. 0. 1. ]] SLAMing on 111.00719347 meters Centerline goodness : 0.852870 Centerline is valid? [False, False] Translation: X:9.66, Y:0.16, Z:-1.57 [[ 0.97930466 -0.17345748 -0.10428268 9.6560971 ] [ 0.17587605 0.98430711 0.01439173 0.16071155] [ 0.10014983 -0.03243472 0.99444356 -1.5721327 ] [ 0. 0. 0. 1. ]] SLAMing on 111.03719347 meters Centerline goodness : 0.853420 Centerline is valid? [False, False] Translation: X:9.66, Y:0.16, Z:-1.57 [[ 0.97912666 -0.17423705 -0.10465392 9.65719074] [ 0.17652018 0.98421258 0.01289313 0.16448156] [ 0.10075525 -0.03109753 0.99442512 -1.57299184] [ 0. 0. 0. 1. ]] SLAMing on 111.06719347 meters Centerline goodness : 0.852568 Centerline is valid? [False, False] Translation: X:9.66, Y:0.17, Z:-1.57 [[ 0.97889306 -0.17542957 -0.1048468 9.65774769] [ 0.17751914 0.98405733 0.01086818 0.16872719] [ 0.10126866 -0.0292511 0.994429 -1.57365204] [ 0. 0. 0. 1. ]] SLAMing on 111.09719347 meters Centerline goodness : 0.854539 Centerline is valid? [False, False] Translation: X:9.66, Y:0.17, Z:-1.57 [[ 0.97918263 -0.1728918 -0.1063476 9.65979836] [ 0.17528142 0.98442611 0.01347771 0.17115917] [ 0.10236117 -0.0318379 0.99423767 -1.57421015] [ 0. 0. 0. 1. ]] SLAMing on 111.12719347 meters Centerline goodness : 0.852196 Centerline is valid? [False, False] Translation: X:9.66, Y:0.18, Z:-1.58 [[ 0.97900437 -0.17335366 -0.1072332 9.66230633] [ 0.17563755 0.98437978 0.01216123 0.17623182] [ 0.10345 -0.03074007 0.99415952 -1.57581422] [ 0. 0. 0. 1. ]] SLAMing on 111.15719347 meters Centerline goodness : 0.852738 Centerline is valid? [False, False] Translation: X:9.66, Y:0.18, Z:-1.58 [[ 0.97887742 -0.17273227 -0.10937353 9.66460378] [ 0.17510962 0.9844703 0.01244418 0.18479624] [ 0.10552547 -0.03133369 0.99392282 -1.57567279] [ 0. 0. 0. 1. ]] SLAMing on 111.18719347 meters Centerline goodness : 0.850326 Centerline is valid? [False, False] Translation: X:9.66, Y:0.19, Z:-1.58 [[ 0.97854308 -0.17446925 -0.109608 9.66479409] [ 0.17659179 0.98423449 0.00988999 0.19031995] [ 0.10615448 -0.02903365 0.99392569 -1.57590515] [ 0. 0. 0. 1. ]] SLAMing on 111.21719347 meters Centerline goodness : 0.849486 Centerline is valid? [False, False] Translation: X:9.66, Y:0.20, Z:-1.57 [[ 9.77593637e-01 -1.72431088e-01 -1.20740224e-01 9.66066879e+00] [ 1.74361493e-01 9.84666185e-01 5.52942642e-03 1.97704410e-01] [ 1.17935371e-01 -2.64579778e-02 9.92668738e-01 -1.57337314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24719347 meters Centerline goodness : 0.847487 Centerline is valid? [False, False] Translation: X:9.66, Y:0.20, Z:-1.58 [[ 9.77444269e-01 -1.72650134e-01 -1.21633189e-01 9.66357632e+00] [ 1.74503123e-01 9.84645551e-01 4.66887860e-03 2.01174172e-01] [ 1.18959496e-01 -2.57889400e-02 9.92564138e-01 -1.57512437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27719347 meters Centerline goodness : 0.847605 Centerline is valid? [False, False] Translation: X:9.66, Y:0.20, Z:-1.58 [[ 9.77270285e-01 -1.73428636e-01 -1.21923327e-01 9.66392292e+00] [ 1.75148359e-01 9.84536010e-01 3.44929114e-03 2.04465983e-01] [ 1.19439700e-01 -2.47255604e-02 9.92533528e-01 -1.57519822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30719347 meters Centerline goodness : 0.846439 Centerline is valid? [False, False] Translation: X:9.67, Y:0.21, Z:-1.57 [[ 9.77517429e-01 -1.70758177e-01 -1.23698508e-01 9.66528527e+00] [ 1.72920645e-01 9.84911721e-01 6.88136108e-03 2.06080298e-01] [ 1.20657061e-01 -2.81166761e-02 9.92295987e-01 -1.57391001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33719347 meters Centerline goodness : 0.850493 Centerline is valid? [False, False] Translation: X:9.67, Y:0.21, Z:-1.57 [[ 0.97763011 -0.16841015 -0.12600552 9.66566657] [ 0.17097524 0.9852271 0.00974793 0.21365861] [ 0.1225024 -0.03107369 0.99198165 -1.57171976] [ 0. 0. 0. 1. ]] SLAMing on 111.36719347 meters Centerline goodness : 0.847129 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.57 [[ 0.97790785 -0.16543494 -0.12777914 9.6680324 ] [ 0.16836264 0.98564731 0.01238574 0.21744747] [ 0.12389613 -0.03362534 0.99172531 -1.57215194] [ 0. 0. 0. 1. ]] SLAMing on 111.39719347 meters Centerline goodness : 0.846524 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.57 [[ 0.97823399 -0.16207881 -0.12957126 9.67142567] [ 0.16538387 0.98611373 0.01509581 0.22069617] [ 0.12532529 -0.03619623 0.9914552 -1.57375695] [ 0. 0. 0. 1. ]] SLAMing on 111.42719347 meters Centerline goodness : 0.852957 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.58 [[ 0.97858236 -0.15931813 -0.13036218 9.67352255] [ 0.1628089 0.98651958 0.01650378 0.22399263] [ 0.12597549 -0.03737444 0.99132907 -1.57594786] [ 0. 0. 0. 1. ]] SLAMing on 111.45719347 meters Centerline goodness : 0.852957 Centerline is valid? [False, False] Translation: X:9.67, Y:0.22, Z:-1.58 [[ 0.97858236 -0.15931813 -0.13036218 9.67352255] [ 0.1628089 0.98651958 0.01650378 0.22399263] [ 0.12597549 -0.03737444 0.99132907 -1.57594786] [ 0. 0. 0. 1. ]] SLAMing on 111.48719347 meters Centerline goodness : 0.843317 Centerline is valid? [False, False] Translation: X:9.66, Y:0.23, Z:-1.57 [[ 0.97878339 -0.15245646 -0.13689446 9.66464693] [ 0.15540736 0.98778844 0.01106998 0.23010487] [ 0.13353508 -0.03210952 0.99052378 -1.57458748] [ 0. 0. 0. 1. ]] SLAMing on 111.51719347 meters Centerline goodness : 0.844325 Centerline is valid? [False, False] Translation: X:9.66, Y:0.23, Z:-1.57 [[ 0.97923819 -0.14867321 -0.13779999 9.66499241] [ 0.15195768 0.98829384 0.01357005 0.23426001] [ 0.13416938 -0.03422807 0.99036711 -1.57479087] [ 0. 0. 0. 1. ]] SLAMing on 111.54719347 meters Centerline goodness : 0.846107 Centerline is valid? [False, False] Translation: X:9.66, Y:0.24, Z:-1.57 [[ 0.97968129 -0.14502424 -0.13853716 9.66432911] [ 0.14860698 0.98876976 0.01582169 0.23904143] [ 0.13468682 -0.03608781 0.99023085 -1.57423363] [ 0. 0. 0. 1. ]] SLAMing on 111.57719347 meters Centerline goodness : 0.848632 Centerline is valid? [False, False] Translation: X:9.65, Y:0.25, Z:-1.57 [[ 0.98114546 -0.13892705 -0.13436096 9.65455575] [ 0.14201146 0.98977153 0.01360409 0.24960747] [ 0.13109667 -0.03242838 0.99083907 -1.5702194 ] [ 0. 0. 0. 1. ]] SLAMing on 111.60719347 meters Centerline goodness : 0.847578 Centerline is valid? [False, False] Translation: X:9.65, Y:0.25, Z:-1.57 [[ 0.98170012 -0.13498202 -0.13433067 9.65175257] [ 0.13834147 0.99025609 0.01595371 0.25287834] [ 0.1308683 -0.03424526 0.99080813 -1.56885657] [ 0. 0. 0. 1. ]] SLAMing on 111.63719347 meters Centerline goodness : 0.850229 Centerline is valid? [False, False] Translation: X:9.65, Y:0.26, Z:-1.57 [[ 0.98312823 -0.13638843 -0.12188964 9.65396052] [ 0.13913959 0.99016936 0.01431136 0.26002219] [ 0.11873948 -0.03102958 0.99244048 -1.57218102] [ 0. 0. 0. 1. ]] SLAMing on 111.66719347 meters Centerline goodness : 0.846105 Centerline is valid? [False, False] Translation: X:9.65, Y:0.26, Z:-1.57 [[ 0.98338363 -0.1353998 -0.12092775 9.65148825] [ 0.13791346 0.99036381 0.01262557 0.26402812] [ 0.11805297 -0.02909335 0.99258102 -1.57254107] [ 0. 0. 0. 1. ]] SLAMing on 111.69719347 meters Centerline goodness : 0.850294 Centerline is valid? [False, False] Translation: X:9.65, Y:0.27, Z:-1.57 [[ 0.98381184 -0.13173845 -0.12148762 9.65195718] [ 0.13454561 0.99079137 0.01516403 0.26634589] [ 0.11837119 -0.03126418 0.99247711 -1.57331113] [ 0. 0. 0. 1. ]] SLAMing on 111.72719347 meters Centerline goodness : 0.847296 Centerline is valid? [False, False] Translation: X:9.65, Y:0.27, Z:-1.58 [[ 0.98454795 -0.12671882 -0.12086218 9.65099122] [ 0.12960598 0.99143156 0.01630173 0.27042679] [ 0.11776085 -0.03171429 0.99253543 -1.5759898 ] [ 0. 0. 0. 1. ]] SLAMing on 111.75719347 meters Centerline goodness : 0.847104 Centerline is valid? [False, False] Translation: X:9.65, Y:0.27, Z:-1.58 [[ 0.98475067 -0.12573443 -0.12023712 9.64968568] [ 0.1284591 0.99159902 0.01515378 0.27322163] [ 0.11732165 -0.03036825 0.99262954 -1.57675858] [ 0. 0. 0. 1. ]] SLAMing on 111.78719347 meters Centerline goodness : 0.845992 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98578286 -0.1292673 -0.1073411 9.65195938] [ 0.13116226 0.99130257 0.01075542 0.27966228] [ 0.10501718 -0.02468162 0.99416408 -1.58142229] [ 0. 0. 0. 1. ]] SLAMing on 111.81719347 meters Centerline goodness : 0.848519 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98624938 -0.12518885 -0.10788838 9.65287523] [ 0.12738479 0.99175902 0.01368081 0.2816001 ] [ 0.10528659 -0.02723603 0.99406888 -1.58273426] [ 0. 0. 0. 1. ]] SLAMing on 111.84719347 meters Centerline goodness : 0.845812 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98627542 -0.12495728 -0.10791886 9.65306672] [ 0.12716806 0.99178483 0.01382518 0.28160009] [ 0.10530473 -0.02735927 0.99406357 -1.58288126] [ 0. 0. 0. 1. ]] SLAMing on 111.87719347 meters Centerline goodness : 0.845895 Centerline is valid? [False, False] Translation: X:9.65, Y:0.28, Z:-1.58 [[ 0.98630758 -0.12454842 -0.10809743 9.65404505] [ 0.12684836 0.99181407 0.01464078 0.27977003] [ 0.10538906 -0.02815229 0.99403249 -1.58328152] [ 0. 0. 0. 1. ]] SLAMing on 111.90719347 meters Centerline goodness : 0.842664 Centerline is valid? [False, False] Translation: X:9.66, Y:0.27, Z:-1.58 [[ 0.98605589 -0.12684442 -0.10772316 9.65548064] [ 0.12904495 0.99154438 0.01368011 0.27417094] [ 0.10507705 -0.02739048 0.9940868 -1.58392837] [ 0. 0. 0. 1. ]] SLAMing on 111.93719347 meters Centerline goodness : 0.843200 Centerline is valid? [False, False] Translation: X:9.66, Y:0.27, Z:-1.58 [[ 0.98585565 -0.12763227 -0.10862155 9.65839476] [ 0.1299985 0.99140133 0.01495978 0.27129816] [ 0.1057782 -0.02886882 0.99397061 -1.58429868] [ 0. 0. 0. 1. ]] SLAMing on 111.96719347 meters Centerline goodness : 0.843326 Centerline is valid? [False, False] Translation: X:9.66, Y:0.27, Z:-1.59 [[ 0.98554807 -0.12948621 -0.1092169 9.66145126] [ 0.13188243 0.99115219 0.0149787 0.26846126] [ 0.10631103 -0.02916602 0.99390508 -1.58520596] [ 0. 0. 0. 1. ]] SLAMing on 111.99719347 meters Centerline goodness : 0.839649 Centerline is valid? [False, False] Translation: X:9.67, Y:0.26, Z:-1.59 [[ 0.98516425 -0.13131677 -0.11048665 9.66520975] [ 0.13387423 0.99086877 0.01602388 0.26466752] [ 0.10737357 -0.03057747 0.99374843 -1.58528345] [ 0. 0. 0. 1. ]] SLAMing on 112.02719347 meters Centerline goodness : 0.844303 Centerline is valid? [False, False] Translation: X:9.67, Y:0.26, Z:-1.58 [[ 0.98415765 -0.13689907 -0.11266038 9.67097621] [ 0.13960362 0.99007098 0.01644028 0.25693561] [ 0.10929111 -0.03190763 0.99349754 -1.58451512] [ 0. 0. 0. 1. ]] SLAMing on 112.05719347 meters Centerline goodness : 0.841313 Centerline is valid? [False, False] Translation: X:9.67, Y:0.25, Z:-1.58 [[ 0.98390273 -0.13797779 -0.11356741 9.67283814] [ 0.14087678 0.98986583 0.01787084 0.25353005] [ 0.10995072 -0.03358218 0.99336956 -1.58339039] [ 0. 0. 0. 1. ]] SLAMing on 112.08719347 meters Centerline goodness : 0.843074 Centerline is valid? [False, False] Translation: X:9.67, Y:0.25, Z:-1.58 [[ 0.98372269 -0.13848988 -0.11449985 9.674827 ] [ 0.14161648 0.98972756 0.01959914 0.25003131] [ 0.11060937 -0.03549519 0.99322991 -1.58248165] [ 0. 0. 0. 1. ]] SLAMing on 112.11719347 meters Centerline goodness : 0.842349 Centerline is valid? [False, False] Translation: X:9.68, Y:0.25, Z:-1.58 [[ 0.98363411 -0.13875961 -0.11493352 9.67627451] [ 0.14202877 0.98964564 0.02072067 0.24698088] [ 0.11086826 -0.03670542 0.99315706 -1.58236216] [ 0. 0. 0. 1. ]] SLAMing on 112.14719347 meters Centerline goodness : 0.844050 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98366575 -0.13847623 -0.11500448 9.6776432 ] [ 0.1418404 0.98965465 0.02156347 0.24378104] [ 0.11082869 -0.03752352 0.9931309 -1.58315332] [ 0. 0. 0. 1. ]] SLAMing on 112.17719347 meters Centerline goodness : 0.842683 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98371831 -0.13795946 -0.11517584 9.67848247] [ 0.14134315 0.98972263 0.02170804 0.24381209] [ 0.1109973 -0.03763391 0.99310789 -1.58386296] [ 0. 0. 0. 1. ]] SLAMing on 112.20719347 meters Centerline goodness : 0.840597 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98409356 -0.13435893 -0.11622194 9.67975142] [ 0.13822648 0.99006333 0.02584658 0.24272852] [ 0.11159437 -0.0415004 0.99288691 -1.58370279] [ 0. 0. 0. 1. ]] SLAMing on 112.23719347 meters Centerline goodness : 0.841351 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98427169 -0.13346229 -0.11574562 9.67841058] [ 0.13731056 0.99018934 0.02590127 0.2430319 ] [ 0.11115324 -0.04138698 0.99294112 -1.58352125] [ 0. 0. 0. 1. ]] SLAMing on 112.26719347 meters Centerline goodness : 0.843609 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98443529 -0.13260582 -0.11533796 9.67724589] [ 0.13645129 0.99030356 0.02607509 0.2428775 ] [ 0.11076189 -0.04140725 0.99298401 -1.58323633] [ 0. 0. 0. 1. ]] SLAMing on 112.29719347 meters Centerline goodness : 0.843305 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98434587 -0.13279913 -0.11587749 9.67902203] [ 0.1367114 0.99025751 0.02645872 0.24197644] [ 0.11123486 -0.04188631 0.99291105 -1.58378831] [ 0. 0. 0. 1. ]] SLAMing on 112.32719347 meters Centerline goodness : 0.842425 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98425807 -0.13299961 -0.11639224 9.68065698] [ 0.13699011 0.99020577 0.02694883 0.24068062] [ 0.11166808 -0.04246919 0.99283765 -1.58409703] [ 0. 0. 0. 1. ]] SLAMing on 112.35719347 meters Centerline goodness : 0.843255 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98424672 -0.13308008 -0.11639628 9.68073316] [ 0.1370826 0.99019021 0.02704993 0.24021149] [ 0.11165465 -0.04257971 0.99283443 -1.58395843] [ 0. 0. 0. 1. ]] SLAMing on 112.38719347 meters Centerline goodness : 0.845621 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98468369 -0.12895537 -0.11733942 9.68085695] [ 0.13346261 0.99055729 0.0313686 0.24107368] [ 0.11218626 -0.04654858 0.99259633 -1.58308171] [ 0. 0. 0. 1. ]] SLAMing on 112.41719347 meters Centerline goodness : 0.840745 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98480677 -0.1283549 -0.1169643 9.67991646] [ 0.13278354 0.99066453 0.03085964 0.24242553] [ 0.1119114 -0.04592172 0.99265655 -1.58327714] [ 0. 0. 0. 1. ]] SLAMing on 112.44719347 meters Centerline goodness : 0.847858 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98505752 -0.12719291 -0.11611912 9.67883688] [ 0.13156075 0.99083175 0.03072815 0.24158584] [ 0.11114611 -0.04554572 0.99275986 -1.58423683] [ 0. 0. 0. 1. ]] SLAMing on 112.47719347 meters Centerline goodness : 0.845269 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98543871 -0.12515874 -0.11509061 9.67751037] [ 0.12959159 0.9910559 0.03184682 0.23802034] [ 0.11007532 -0.04629786 0.99284436 -1.58486373] [ 0. 0. 0. 1. ]] SLAMing on 112.50719347 meters Centerline goodness : 0.843895 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.9854403 -0.12515737 -0.11507844 9.67728292] [ 0.12962577 0.99104091 0.03217266 0.23758977] [ 0.1100208 -0.04662136 0.99283527 -1.58443249] [ 0. 0. 0. 1. ]] SLAMing on 112.53719347 meters Centerline goodness : 0.844421 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98516974 -0.12807105 -0.1141858 9.67544442] [ 0.13213791 0.9908141 0.02875731 0.23862478] [ 0.10945392 -0.04341911 0.99304311 -1.58367097] [ 0. 0. 0. 1. ]] SLAMing on 112.56719347 meters Centerline goodness : 0.847311 Centerline is valid? [False, False] Translation: X:9.68, Y:0.24, Z:-1.58 [[ 0.98513366 -0.12790942 -0.11467719 9.67675487] [ 0.13207805 0.99080056 0.02948977 0.23731379] [ 0.1098502 -0.04419771 0.992965 -1.58376123] [ 0. 0. 0. 1. ]] SLAMing on 112.59719347 meters Centerline goodness : 0.844032 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98515303 -0.12765296 -0.1147965 9.67859246] [ 0.13191896 0.99079625 0.03033445 0.23388975] [ 0.10986766 -0.04502791 0.99292577 -1.5848351 ] [ 0. 0. 0. 1. ]] SLAMing on 112.62719347 meters Centerline goodness : 0.845534 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98488448 -0.13072415 -0.11363872 9.67714803] [ 0.13455062 0.99054835 0.02664777 0.23369652] [ 0.10908114 -0.04153513 0.99316471 -1.58492209] [ 0. 0. 0. 1. ]] SLAMing on 112.65719347 meters Centerline goodness : 0.847752 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.59 [[ 0.98482429 -0.13081799 -0.11405164 9.67857306] [ 0.13473504 0.99050532 0.02730712 0.2320192 ] [ 0.1093965 -0.04225947 0.99309946 -1.58517251] [ 0. 0. 0. 1. ]] SLAMing on 112.68719347 meters Centerline goodness : 0.846997 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.59 [[ 0.98452275 -0.13404522 -0.11290192 9.67775471] [ 0.13749901 0.99022675 0.02334539 0.23185423] [ 0.10866916 -0.03850797 0.99333184 -1.58591921] [ 0. 0. 0. 1. ]] SLAMing on 112.71719347 meters Centerline goodness : 0.849571 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98438464 -0.13418341 -0.11393719 9.679349 ] [ 0.13786582 0.99013425 0.02504367 0.22949402] [ 0.10945267 -0.04036065 0.99317226 -1.58463546] [ 0. 0. 0. 1. ]] SLAMing on 112.74719347 meters Centerline goodness : 0.851524 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98416364 -0.13509194 -0.11476976 9.68039313] [ 0.13886231 0.98998384 0.02548054 0.22908387] [ 0.11017799 -0.04101422 0.99306528 -1.58342822] [ 0. 0. 0. 1. ]] SLAMing on 112.77719347 meters Centerline goodness : 0.848911 Centerline is valid? [False, False] Translation: X:9.68, Y:0.23, Z:-1.58 [[ 0.98390618 -0.13583237 -0.11609562 9.68278686] [ 0.13978888 0.98982377 0.02660767 0.22772285] [ 0.11130002 -0.04240833 0.99288158 -1.5825023 ] [ 0. 0. 0. 1. ]] SLAMing on 112.80719347 meters Centerline goodness : 0.848084 Centerline is valid? [False, False] Translation: X:9.68, Y:0.22, Z:-1.58 [[ 0.98321476 -0.14043798 -0.11647274 9.6847142 ] [ 0.14426095 0.98922314 0.02502728 0.22212751] [ 0.11170275 -0.04140966 0.99287851 -1.5811496 ] [ 0. 0. 0. 1. ]] SLAMing on 112.83719347 meters Centerline goodness : 0.848233 Centerline is valid? [False, False] Translation: X:9.69, Y:0.22, Z:-1.58 [[ 0.9826791 -0.14422293 -0.1163681 9.68688788] [ 0.14776735 0.98876882 0.02238376 0.21901816] [ 0.1118329 -0.03919146 0.99295389 -1.58201642] [ 0. 0. 0. 1. ]] SLAMing on 112.86719347 meters Centerline goodness : 0.847968 Centerline is valid? [False, False] Translation: X:9.69, Y:0.22, Z:-1.58 [[ 0.98211481 -0.14791442 -0.11649821 9.68997046] [ 0.15115101 0.98832017 0.01940665 0.217511 ] [ 0.11226701 -0.03666838 0.99300128 -1.5837049 ] [ 0. 0. 0. 1. ]] SLAMing on 112.89719347 meters Centerline goodness : 0.850686 Centerline is valid? [False, False] Translation: X:9.70, Y:0.22, Z:-1.59 [[ 0.98185119 -0.14817622 -0.11837251 9.69537772] [ 0.1516091 0.98822809 0.02049188 0.21667296] [ 0.11394263 -0.03806633 0.99275779 -1.58532157] [ 0. 0. 0. 1. ]] SLAMing on 112.92719347 meters Centerline goodness : 0.850312 Centerline is valid? [False, False] Translation: X:9.70, Y:0.22, Z:-1.59 [[ 0.98161229 -0.14799138 -0.12056475 9.70009145] [ 0.15167291 0.98818804 0.02190257 0.21800169] [ 0.11589926 -0.03978624 0.99246381 -1.58579499] [ 0. 0. 0. 1. ]] SLAMing on 112.95719347 meters Centerline goodness : 0.851796 Centerline is valid? [False, False] Translation: X:9.70, Y:0.22, Z:-1.59 [[ 0.98178608 -0.14689846 -0.12048624 9.69993954] [ 0.15064988 0.98832902 0.02259128 0.21680739] [ 0.11576142 -0.04033104 0.99245791 -1.58578435] [ 0. 0. 0. 1. ]] SLAMing on 112.98719347 meters Centerline goodness : 0.849499 Centerline is valid? [False, False] Translation: X:9.70, Y:0.21, Z:-1.59 [[ 0.98210705 -0.14528733 -0.11982208 9.69876429] [ 0.14908846 0.98854824 0.02334541 0.21483077] [ 0.11505812 -0.04079178 0.99252086 -1.5860012 ] [ 0. 0. 0. 1. ]] SLAMing on 113.01719347 meters Centerline goodness : 0.849246 Centerline is valid? [False, False] Translation: X:9.70, Y:0.21, Z:-1.59 [[ 0.98313991 -0.13860736 -0.11926405 9.69637915] [ 0.14290586 0.98933343 0.02823617 0.21241823] [ 0.11407817 -0.04480364 0.99246098 -1.58589264] [ 0. 0. 0. 1. ]] SLAMing on 113.04719347 meters Centerline goodness : 0.853208 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98344873 -0.13719873 -0.11834315 9.69459722] [ 0.14139749 0.98956235 0.02780459 0.21410359] [ 0.11329317 -0.04407781 0.9925834 -1.58660646] [ 0. 0. 0. 1. ]] SLAMing on 113.07719347 meters Centerline goodness : 0.851838 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98377099 -0.13506066 -0.11812391 9.6948193 ] [ 0.13931571 0.98983779 0.02850066 0.21383542] [ 0.11307419 -0.04449464 0.99258977 -1.58778431] [ 0. 0. 0. 1. ]] SLAMing on 113.10719347 meters Centerline goodness : 0.851976 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98398857 -0.13404497 -0.11746676 9.69376416] [ 0.13829982 0.98997114 0.02881492 0.21273881] [ 0.1124262 -0.04459918 0.99265868 -1.58811835] [ 0. 0. 0. 1. ]] SLAMing on 113.13719347 meters Centerline goodness : 0.853487 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98422244 -0.13247844 -0.11728453 9.69350054] [ 0.13699046 0.99007938 0.03124803 0.20715173] [ 0.1119813 -0.04682187 0.99260662 -1.58721881] [ 0. 0. 0. 1. ]] SLAMing on 113.16719347 meters Centerline goodness : 0.854170 Centerline is valid? [False, False] Translation: X:9.69, Y:0.21, Z:-1.59 [[ 0.98388491 -0.13566883 -0.11646649 9.69213517] [ 0.1398618 0.98975851 0.02857928 0.20581562] [ 0.11139639 -0.04440793 0.99278335 -1.58617009] [ 0. 0. 0. 1. ]] SLAMing on 113.19719347 meters Centerline goodness : 0.851502 Centerline is valid? [False, False] Translation: X:9.69, Y:0.20, Z:-1.58 [[ 0.98367857 -0.13620805 -0.11757484 9.69388406] [ 0.14066912 0.98958744 0.03047779 0.2025534 ] [ 0.11219927 -0.0465195 0.99259622 -1.58451074] [ 0. 0. 0. 1. ]] SLAMing on 113.22719347 meters Centerline goodness : 0.852070 Centerline is valid? [False, False] Translation: X:9.70, Y:0.20, Z:-1.58 [[ 0.98343696 -0.13731733 -0.11830343 9.69524118] [ 0.14194494 0.98937064 0.03158123 0.19876714] [ 0.11270929 -0.04785072 0.99247515 -1.58309527] [ 0. 0. 0. 1. ]] SLAMing on 113.25719347 meters Centerline goodness : 0.854188 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98288583 -0.1411791 -0.11833808 9.69587049] [ 0.14576213 0.98883485 0.03096823 0.19216218] [ 0.11264475 -0.04768745 0.99249034 -1.58064854] [ 0. 0. 0. 1. ]] SLAMing on 113.28719347 meters Centerline goodness : 0.854821 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98235706 -0.14516772 -0.11790222 9.69587077] [ 0.14939357 0.98838736 0.0277848 0.19084463] [ 0.1124996 -0.04490843 0.99263642 -1.58003492] [ 0. 0. 0. 1. ]] SLAMing on 113.31719347 meters Centerline goodness : 0.853144 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98211406 -0.14593619 -0.11897315 9.69847893] [ 0.15030071 0.98822863 0.0285284 0.18861726] [ 0.11340934 -0.04589989 0.99248754 -1.57987756] [ 0. 0. 0. 1. ]] SLAMing on 113.34719347 meters Centerline goodness : 0.853144 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98211406 -0.14593619 -0.11897315 9.69847893] [ 0.15030071 0.98822863 0.0285284 0.18861726] [ 0.11340934 -0.04589989 0.99248754 -1.57987756] [ 0. 0. 0. 1. ]] SLAMing on 113.37719347 meters Centerline goodness : 0.856656 Centerline is valid? [False, False] Translation: X:9.70, Y:0.19, Z:-1.58 [[ 0.98139472 -0.14987247 -0.12001103 9.70369841] [ 0.15393514 0.9877576 0.02527655 0.18979931] [ 0.11475355 -0.04328019 0.99245073 -1.58243916] [ 0. 0. 0. 1. ]] SLAMing on 113.40719347 meters Centerline goodness : 0.856471 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.9812833 -0.14972365 -0.12110289 9.70712752] [ 0.15388413 0.98775432 0.02571157 0.19029572] [ 0.11577027 -0.04386615 0.99230691 -1.58386503] [ 0. 0. 0. 1. ]] SLAMing on 113.43719347 meters Centerline goodness : 0.853998 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.98113069 -0.15036703 -0.12154143 9.70825143] [ 0.1545226 0.98766099 0.02546639 0.19022083] [ 0.11621243 -0.04376675 0.99225961 -1.58388016] [ 0. 0. 0. 1. ]] SLAMing on 113.46719347 meters Centerline goodness : 0.854487 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.9809797 -0.15079607 -0.12222677 9.70986241] [ 0.15504364 0.98756636 0.02596433 0.188818 ] [ 0.11679172 -0.04442097 0.99216252 -1.5836749 ] [ 0. 0. 0. 1. ]] SLAMing on 113.49719347 meters Centerline goodness : 0.856860 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.98036898 -0.15510075 -0.12173917 9.70970619] [ 0.15888125 0.98705417 0.02192728 0.19011163] [ 0.11676222 -0.04083889 0.99231989 -1.58338798] [ 0. 0. 0. 1. ]] SLAMing on 113.52719347 meters Centerline goodness : 0.852982 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.98017383 -0.15590508 -0.12228195 9.71075957] [ 0.1596481 0.98694259 0.02137298 0.19122994] [ 0.11735311 -0.04047132 0.99226525 -1.58332085] [ 0. 0. 0. 1. ]] SLAMing on 113.55719347 meters Centerline goodness : 0.854928 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.97998295 -0.15661906 -0.12289786 9.71204728] [ 0.1603563 0.9868343 0.02106939 0.19187592] [ 0.11797996 -0.04035509 0.99219564 -1.58322295] [ 0. 0. 0. 1. ]] SLAMing on 113.58719347 meters Centerline goodness : 0.853914 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.97979828 -0.15733084 -0.12345988 9.71328865] [ 0.16105669 0.98672723 0.0207391 0.19243372] [ 0.11855832 -0.04020417 0.99213283 -1.58318613] [ 0. 0. 0. 1. ]] SLAMing on 113.61719347 meters Centerline goodness : 0.855385 Centerline is valid? [False, False] Translation: X:9.71, Y:0.19, Z:-1.58 [[ 0.97958508 -0.15806043 -0.12421747 9.71484174] [ 0.16178825 0.98661349 0.02045449 0.19337222] [ 0.11932159 -0.04013384 0.99204417 -1.58313037] [ 0. 0. 0. 1. ]] SLAMing on 113.64719347 meters Centerline goodness : 0.853269 Centerline is valid? [False, False] Translation: X:9.72, Y:0.20, Z:-1.58 [[ 0.97925181 -0.15949642 -0.12500711 9.71633662] [ 0.16312271 0.9864177 0.01926382 0.19698347] [ 0.12023672 -0.03925563 0.99196881 -1.583264 ] [ 0. 0. 0. 1. ]] SLAMing on 113.67719347 meters Centerline goodness : 0.854127 Centerline is valid? [False, False] Translation: X:9.72, Y:0.20, Z:-1.58 [[ 0.97904009 -0.1603464 -0.12557678 9.71768769] [ 0.16390737 0.98630245 0.01848936 0.1991017 ] [ 0.12089198 -0.03868478 0.9919116 -1.58362172] [ 0. 0. 0. 1. ]] SLAMing on 113.70719347 meters Centerline goodness : 0.853784 Centerline is valid? [False, False] Translation: X:9.72, Y:0.20, Z:-1.58 [[ 0.97886374 -0.16132377 -0.12569969 9.71849576] [ 0.16473117 0.9861897 0.0171323 0.2013991 ] [ 0.1211999 -0.03747684 0.9919204 -1.58442305] [ 0. 0. 0. 1. ]] SLAMing on 113.73719347 meters Centerline goodness : 0.852011 Centerline is valid? [False, False] Translation: X:9.72, Y:0.21, Z:-1.59 [[ 0.9792035 -0.15835821 -0.12681951 9.72063921] [ 0.16197283 0.98661897 0.0186497 0.20557194] [ 0.1221692 -0.03880317 0.99175047 -1.58630958] [ 0. 0. 0. 1. ]] SLAMing on 113.76719347 meters Centerline goodness : 0.853708 Centerline is valid? [False, False] Translation: X:9.72, Y:0.21, Z:-1.59 [[ 0.97981143 -0.15394291 -0.12755838 9.72107826] [ 0.15795115 0.9872048 0.02186576 0.20796427] [ 0.12256016 -0.04157232 0.99159001 -1.58694292] [ 0. 0. 0. 1. ]] SLAMing on 113.79719347 meters Centerline goodness : 0.856060 Centerline is valid? [False, False] Translation: X:9.72, Y:0.21, Z:-1.59 [[ 0.98056775 -0.14900232 -0.12761346 9.71974501] [ 0.15334377 0.98786055 0.0248441 0.21109484] [ 0.12236248 -0.04393006 0.99151277 -1.58740763] [ 0. 0. 0. 1. ]] SLAMing on 113.82719347 meters Centerline goodness : 0.854976 Centerline is valid? [False, False] Translation: X:9.72, Y:0.22, Z:-1.59 [[ 0.98130536 -0.14359262 -0.12814423 9.7196233 ] [ 0.14827271 0.98855816 0.02771215 0.21514251] [ 0.12269877 -0.04619437 0.99136829 -1.58848021] [ 0. 0. 0. 1. ]] SLAMing on 113.85719347 meters Centerline goodness : 0.852385 Centerline is valid? [False, False] Translation: X:9.72, Y:0.22, Z:-1.59 [[ 0.98293482 -0.1328457 -0.12724449 9.71625464] [ 0.13796465 0.98991167 0.03225881 0.22312476] [ 0.12167536 -0.04926355 0.99134666 -1.59076727] [ 0. 0. 0. 1. ]] SLAMing on 113.88719347 meters Centerline goodness : 0.849549 Centerline is valid? [False, False] Translation: X:9.72, Y:0.23, Z:-1.59 [[ 0.98347452 -0.12855932 -0.12747691 9.71532178] [ 0.13398536 0.99036825 0.0349092 0.22649677] [ 0.12176118 -0.05141234 0.99122701 -1.59102388] [ 0. 0. 0. 1. ]] SLAMing on 113.91719347 meters Centerline goodness : 0.850210 Centerline is valid? [False, False] Translation: X:9.71, Y:0.23, Z:-1.59 [[ 0.983682 -0.12740648 -0.12703273 9.71361615] [ 0.13269163 0.99057357 0.03401387 0.23030169] [ 0.12150167 -0.05031501 0.99131516 -1.59113078] [ 0. 0. 0. 1. ]] SLAMing on 113.94719347 meters Centerline goodness : 0.850800 Centerline is valid? [False, False] Translation: X:9.71, Y:0.23, Z:-1.59 [[ 0.98380793 -0.12698195 -0.12648142 9.71180275] [ 0.13210167 0.99068957 0.03291377 0.23323099] [ 0.12112437 -0.04908924 0.99142278 -1.59103607] [ 0. 0. 0. 1. ]] SLAMing on 113.97719347 meters Centerline goodness : 0.850751 Centerline is valid? [False, False] Translation: X:9.71, Y:0.24, Z:-1.59 [[ 0.98408328 -0.12612919 -0.12518596 9.70950813] [ 0.13095747 0.99090049 0.03108636 0.23609348] [ 0.12012593 -0.04698561 0.99164616 -1.59224173] [ 0. 0. 0. 1. ]] SLAMing on 114.00719347 meters Centerline goodness : 0.850552 Centerline is valid? [False, False] Translation: X:9.71, Y:0.24, Z:-1.60 [[ 0.98492541 -0.13050189 -0.11353941 9.71471613] [ 0.13430565 0.99058581 0.02649058 0.24153945] [ 0.10901346 -0.04134023 0.99318027 -1.59634334] [ 0. 0. 0. 1. ]] SLAMing on 114.03719347 meters Centerline goodness : 0.849180 Centerline is valid? [False, False] Translation: X:9.71, Y:0.24, Z:-1.60 [[ 0.98494458 -0.13048241 -0.11339542 9.71467428] [ 0.13419896 0.99061976 0.02575126 0.24279983] [ 0.10897166 -0.04058111 0.99321616 -1.59696568] [ 0. 0. 0. 1. ]] SLAMing on 114.06719347 meters Centerline goodness : 0.853851 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.98491581 -0.13047963 -0.1136482 9.71545429] [ 0.13419043 0.99062472 0.02560469 0.2432526 ] [ 0.10924182 -0.04046896 0.99319106 -1.59735737] [ 0. 0. 0. 1. ]] SLAMing on 114.09719347 meters Centerline goodness : 0.851555 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.9847325 -0.13117973 -0.11442808 9.71663315] [ 0.13494373 0.99051838 0.02575893 0.2441378 ] [ 0.10996407 -0.04080701 0.99309752 -1.59680053] [ 0. 0. 0. 1. ]] SLAMing on 114.12719347 meters Centerline goodness : 0.849938 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.98462056 -0.1310091 -0.11558102 9.71984444] [ 0.13493256 0.99049318 0.02676701 0.24370096] [ 0.11097549 -0.04195099 0.99293734 -1.59755029] [ 0. 0. 0. 1. ]] SLAMing on 114.15719347 meters Centerline goodness : 0.849425 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.98426172 -0.13409984 -0.11509171 9.72092677] [ 0.13763716 0.99020809 0.02332263 0.24354693] [ 0.11083718 -0.03879647 0.99308104 -1.59895997] [ 0. 0. 0. 1. ]] SLAMing on 114.18719347 meters Centerline goodness : 0.848540 Centerline is valid? [False, False] Translation: X:9.72, Y:0.24, Z:-1.60 [[ 0.9838569 -0.13708737 -0.11503325 9.72392212] [ 0.14033144 0.9898912 0.02055473 0.24147181] [ 0.11105261 -0.03636569 0.99314896 -1.60122743] [ 0. 0. 0. 1. ]] SLAMing on 114.21719347 meters Centerline goodness : 0.848987 Centerline is valid? [False, False] Translation: X:9.73, Y:0.23, Z:-1.60 [[ 0.98333846 -0.14062646 -0.11519409 9.72708003] [ 0.14385041 0.98939474 0.02012749 0.23232158] [ 0.11114197 -0.03636285 0.99313907 -1.60151783] [ 0. 0. 0. 1. ]] SLAMing on 114.24719347 meters Centerline goodness : 0.849949 Centerline is valid? [False, False] Translation: X:9.73, Y:0.23, Z:-1.60 [[ 0.98313215 -0.14182637 -0.11548359 9.72621295] [ 0.14521622 0.98916748 0.02144635 0.22828992] [ 0.11119095 -0.03785468 0.99307784 -1.59852301] [ 0. 0. 0. 1. ]] SLAMing on 114.27719347 meters Centerline goodness : 0.850490 Centerline is valid? [False, False] Translation: X:9.73, Y:0.22, Z:-1.60 [[ 0.98302905 -0.1417479 -0.11645349 9.72732625] [ 0.14543597 0.98908222 0.02376443 0.22428664] [ 0.11181352 -0.04029765 0.9929118 -1.5964977 ] [ 0. 0. 0. 1. ]] SLAMing on 114.30719347 meters Centerline goodness : 0.852144 Centerline is valid? [False, False] Translation: X:9.73, Y:0.22, Z:-1.60 [[ 0.98293625 -0.14158385 -0.11743228 9.72918505] [ 0.14557469 0.98900321 0.02608961 0.21989924] [ 0.11244704 -0.04273959 0.99273813 -1.5953832 ] [ 0. 0. 0. 1. ]] SLAMing on 114.33719347 meters Centerline goodness : 0.851043 Centerline is valid? [False, False] Translation: X:9.73, Y:0.22, Z:-1.60 [[ 0.98247874 -0.14467273 -0.11749608 9.7316304 ] [ 0.14847689 0.98861851 0.02424977 0.21622597] [ 0.11265052 -0.04127033 0.99277723 -1.5961707 ] [ 0. 0. 0. 1. ]] SLAMing on 114.36719347 meters Centerline goodness : 0.851340 Centerline is valid? [False, False] Translation: X:9.74, Y:0.21, Z:-1.60 [[ 0.98164187 -0.15051224 -0.11715502 9.73610912] [ 0.15388813 0.9878803 0.02027189 0.20910396] [ 0.11268397 -0.03792851 0.99290672 -1.59868226] [ 0. 0. 0. 1. ]] SLAMing on 114.39719347 meters Centerline goodness : 0.850099 Centerline is valid? [False, False] Translation: X:9.74, Y:0.21, Z:-1.60 [[ 0.98142073 -0.15135403 -0.11792078 9.73870437] [ 0.15487528 0.98770569 0.02123943 0.20544888] [ 0.11325636 -0.03910783 0.99279584 -1.59886606] [ 0. 0. 0. 1. ]] SLAMing on 114.42719347 meters Centerline goodness : 0.851882 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.60 [[ 0.98117013 -0.15208155 -0.11906463 9.74120361] [ 0.15577782 0.98753983 0.02232367 0.20234898] [ 0.11418605 -0.04045095 0.99263552 -1.59825996] [ 0. 0. 0. 1. ]] SLAMing on 114.45719347 meters Centerline goodness : 0.854863 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.60 [[ 0.98085048 -0.15284785 -0.12070568 9.74367665] [ 0.15684296 0.98732542 0.02426504 0.19860885] [ 0.11546693 -0.04273221 0.99239173 -1.59631106] [ 0. 0. 0. 1. ]] SLAMing on 114.48719347 meters Centerline goodness : 0.855485 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.60 [[ 0.9807711 -0.15307538 -0.1210619 9.74364308] [ 0.15713852 0.98726757 0.02470275 0.19771679] [ 0.11573911 -0.04325124 0.99233754 -1.59506714] [ 0. 0. 0. 1. ]] SLAMing on 114.51719347 meters Centerline goodness : 0.853813 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98073889 -0.15290594 -0.12153605 9.74408725] [ 0.15708523 0.98725509 0.02552684 0.1965201 ] [ 0.11608388 -0.04412668 0.99225872 -1.59418197] [ 0. 0. 0. 1. ]] SLAMing on 114.54719347 meters Centerline goodness : 0.854667 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.9807351 -0.15263717 -0.12190387 9.74431143] [ 0.15692477 0.98725965 0.02632488 0.19562702] [ 0.11633262 -0.04494747 0.99219275 -1.5933334 ] [ 0. 0. 0. 1. ]] SLAMing on 114.57719347 meters Centerline goodness : 0.856523 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98063421 -0.1538074 -0.12124285 9.74059616] [ 0.15800676 0.98710196 0.02576031 0.19635205] [ 0.11571693 -0.04441863 0.99228856 -1.59010151] [ 0. 0. 0. 1. ]] SLAMing on 114.60719347 meters Centerline goodness : 0.856404 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98052162 -0.15415037 -0.12171695 9.74097635] [ 0.15835557 0.98705002 0.02560808 0.19724053] [ 0.11619322 -0.04438383 0.99223445 -1.58945344] [ 0. 0. 0. 1. ]] SLAMing on 114.63719347 meters Centerline goodness : 0.856328 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.98034745 -0.15471701 -0.12239904 9.74249605] [ 0.15891571 0.98696898 0.02525931 0.19822854] [ 0.11689601 -0.04421403 0.99215948 -1.58966713] [ 0. 0. 0. 1. ]] SLAMing on 114.66719347 meters Centerline goodness : 0.858904 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.97969465 -0.15951473 -0.12146371 9.74310182] [ 0.16301197 0.98643419 0.01935693 0.20222239] [ 0.11672824 -0.03876392 0.99240711 -1.59178716] [ 0. 0. 0. 1. ]] SLAMing on 114.69719347 meters Centerline goodness : 0.858728 Centerline is valid? [False, False] Translation: X:9.74, Y:0.20, Z:-1.59 [[ 0.97955938 -0.15988725 -0.12206347 9.74447633] [ 0.16338489 0.98637675 0.0191387 0.20308274] [ 0.11734053 -0.03869082 0.99233775 -1.5921192 ] [ 0. 0. 0. 1. ]] SLAMing on 114.72719347 meters Centerline goodness : 0.856652 Centerline is valid? [False, False] Translation: X:9.75, Y:0.20, Z:-1.59 [[ 0.97945204 -0.16017944 -0.12254083 9.74570598] [ 0.1636426 0.98634295 0.01867311 0.20463716] [ 0.11787623 -0.03834232 0.99228779 -1.59263622] [ 0. 0. 0. 1. ]] SLAMing on 114.75719347 meters Centerline goodness : 0.859681 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.97973689 -0.15744504 -0.12380097 9.74744008] [ 0.16118877 0.98670512 0.02076522 0.20779334] [ 0.11888567 -0.04029978 0.99208978 -1.59343787] [ 0. 0. 0. 1. ]] SLAMing on 114.78719347 meters Centerline goodness : 0.858491 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.97971229 -0.15750539 -0.12391886 9.74793781] [ 0.1611227 0.98673838 0.01966833 0.2104125 ] [ 0.11917762 -0.03923544 0.99209741 -1.59426731] [ 0. 0. 0. 1. ]] SLAMing on 114.81719347 meters Centerline goodness : 0.858418 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.98013166 -0.15402036 -0.12497863 9.74866416] [ 0.15807448 0.98715608 0.02313731 0.21124896] [ 0.11980979 -0.04243354 0.99188961 -1.59403933] [ 0. 0. 0. 1. ]] SLAMing on 114.84719347 meters Centerline goodness : 0.858218 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.98059313 -0.14999357 -0.12624994 9.74928225] [ 0.15456891 0.98760742 0.02720361 0.21220153] [ 0.12060501 -0.04618999 0.99162539 -1.59317606] [ 0. 0. 0. 1. ]] SLAMing on 114.87719347 meters Centerline goodness : 0.857122 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.59 [[ 0.98117053 -0.14624837 -0.12615788 9.74546478] [ 0.15103463 0.98809728 0.02919439 0.21772201] [ 0.12038662 -0.04769889 0.99158049 -1.59104425] [ 0. 0. 0. 1. ]] SLAMing on 114.90719347 meters Centerline goodness : 0.854763 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.59 [[ 0.98128721 -0.14505242 -0.12663022 9.74708275] [ 0.1498184 0.98829077 0.02891023 0.22113388] [ 0.12095397 -0.04734078 0.99152861 -1.59271089] [ 0. 0. 0. 1. ]] SLAMing on 114.93719347 meters Centerline goodness : 0.854298 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.59 [[ 0.9815752 -0.14115197 -0.12878763 9.73803825] [ 0.14487552 0.98924835 0.01996974 0.22252331] [ 0.12458419 -0.03825998 0.99147111 -1.5934242 ] [ 0. 0. 0. 1. ]] SLAMing on 114.96719347 meters Centerline goodness : 0.855274 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98164789 -0.14031546 -0.12914717 9.74071131] [ 0.1439508 0.98939835 0.01921151 0.2251714 ] [ 0.12508233 -0.03744977 0.99143932 -1.59644802] [ 0. 0. 0. 1. ]] SLAMing on 114.99719347 meters Centerline goodness : 0.854173 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98165964 -0.14049377 -0.1288637 9.74122162] [ 0.14388325 0.98944283 0.01733478 0.22850276] [ 0.12506784 -0.03555818 0.99151079 -1.59843315] [ 0. 0. 0. 1. ]] SLAMing on 115.02719347 meters Centerline goodness : 0.853053 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98199499 -0.1373197 -0.12972716 9.74171519] [ 0.14089811 0.98984602 0.01877696 0.23459424] [ 0.12583146 -0.03671719 0.99137192 -1.59914834] [ 0. 0. 0. 1. ]] SLAMing on 115.05719347 meters Centerline goodness : 0.854241 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.60 [[ 0.98224838 -0.13420334 -0.13106326 9.74273323] [ 0.13822884 0.9901543 0.02207357 0.23662917] [ 0.1268105 -0.03979845 0.99112824 -1.59846823] [ 0. 0. 0. 1. ]] SLAMing on 115.08719347 meters Centerline goodness : 0.849389 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.60 [[ 0.98217055 -0.13484233 -0.13099068 9.74262078] [ 0.13861044 0.99014409 0.02004538 0.24114268] [ 0.12699668 -0.03784466 0.99118092 -1.59919327] [ 0. 0. 0. 1. ]] SLAMing on 115.11719347 meters Centerline goodness : 0.851694 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.60 [[ 0.98201707 -0.13568009 -0.13127599 9.7444156 ] [ 0.13932688 0.99006488 0.01896216 0.24189061] [ 0.12739896 -0.03691144 0.99116449 -1.60061082] [ 0. 0. 0. 1. ]] SLAMing on 115.14719347 meters Centerline goodness : 0.851899 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98197412 -0.13567505 -0.13160207 9.74602412] [ 0.13934098 0.99006186 0.01901597 0.24138896] [ 0.12771419 -0.03701075 0.99112022 -1.60166244] [ 0. 0. 0. 1. ]] SLAMing on 115.17719347 meters Centerline goodness : 0.852458 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98194922 -0.13588067 -0.13157577 9.74628809] [ 0.13949535 0.99004778 0.01861281 0.24165804] [ 0.12773718 -0.03663104 0.99113136 -1.60205699] [ 0. 0. 0. 1. ]] SLAMing on 115.20719346999999 meters Centerline goodness : 0.853478 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98298508 -0.13926455 -0.11977362 9.74921965] [ 0.14247838 0.98962202 0.01865904 0.24488553] [ 0.11593207 -0.03540671 0.99262587 -1.6045987 ] [ 0. 0. 0. 1. ]] SLAMing on 115.23719347 meters Centerline goodness : 0.853478 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98298508 -0.13926455 -0.11977362 9.74921965] [ 0.14247838 0.98962202 0.01865904 0.24488553] [ 0.11593207 -0.03540671 0.99262587 -1.6045987 ] [ 0. 0. 0. 1. ]] SLAMing on 115.26719347 meters Centerline goodness : 0.852444 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98306583 -0.138586 -0.11989789 9.74868361] [ 0.14189045 0.98969155 0.01943543 0.24455958] [ 0.11596845 -0.03611868 0.99259597 -1.60373323] [ 0. 0. 0. 1. ]] SLAMing on 115.29719347 meters Centerline goodness : 0.855851 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98303804 -0.1383164 -0.12043582 9.74937007] [ 0.14171663 0.9897032 0.02009915 0.24439899] [ 0.11641568 -0.03682599 0.99251763 -1.60323401] [ 0. 0. 0. 1. ]] SLAMing on 115.32719347 meters Centerline goodness : 0.855202 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.60 [[ 0.98290428 -0.13893127 -0.1208192 9.75012475] [ 0.14231913 0.98962204 0.0198365 0.24500851] [ 0.11680944 -0.03669227 0.99247631 -1.60314008] [ 0. 0. 0. 1. ]] SLAMing on 115.35719347 meters Centerline goodness : 0.852204 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98295862 -0.13857506 -0.12078621 9.75049932] [ 0.14198659 0.98966512 0.02006884 0.24425274] [ 0.11675685 -0.03687686 0.99247566 -1.6035845 ] [ 0. 0. 0. 1. ]] SLAMing on 115.38719347 meters Centerline goodness : 0.849364 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98304682 -0.13819302 -0.1205058 9.74993776] [ 0.14164641 0.98970426 0.02053705 0.24242473] [ 0.11642703 -0.03725809 0.99250017 -1.60331596] [ 0. 0. 0. 1. ]] SLAMing on 115.41719347 meters Centerline goodness : 0.851768 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98322973 -0.13711628 -0.12024319 9.7494521 ] [ 0.14068506 0.98981721 0.02167011 0.2401426 ] [ 0.11604745 -0.03822312 0.99250793 -1.6031432 ] [ 0. 0. 0. 1. ]] SLAMing on 115.44719347 meters Centerline goodness : 0.852398 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98361785 -0.13469104 -0.11980923 9.74718104] [ 0.13849569 0.9900727 0.02397905 0.23786691] [ 0.11539008 -0.04017928 0.99250731 -1.60160652] [ 0. 0. 0. 1. ]] SLAMing on 115.47719347 meters Centerline goodness : 0.856772 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98369282 -0.13401852 -0.11994781 9.74731022] [ 0.13788028 0.99014685 0.02445918 0.23773369] [ 0.11548796 -0.04059876 0.99247885 -1.60155231] [ 0. 0. 0. 1. ]] SLAMing on 115.50719347 meters Centerline goodness : 0.857688 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98407202 -0.13012016 -0.12112395 9.74912201] [ 0.13455349 0.99047786 0.02913699 0.23601547] [ 0.11617928 -0.04497054 0.99220967 -1.6016008 ] [ 0. 0. 0. 1. ]] SLAMing on 115.53719347 meters Centerline goodness : 0.860224 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98424322 -0.12915083 -0.12076984 9.7488342 ] [ 0.13358695 0.99060231 0.02935279 0.23573973] [ 0.11584395 -0.04502356 0.99224647 -1.602309 ] [ 0. 0. 0. 1. ]] SLAMing on 115.56719347 meters Centerline goodness : 0.856711 Centerline is valid? [False, False] Translation: X:9.75, Y:0.23, Z:-1.60 [[ 0.98481402 -0.12602479 -0.11941146 9.74645916] [ 0.13056564 0.99095592 0.03096742 0.23257678] [ 0.11442883 -0.04608818 0.99236179 -1.60283549] [ 0. 0. 0. 1. ]] SLAMing on 115.59719347 meters Centerline goodness : 0.863322 Centerline is valid? [False, False] Translation: X:9.75, Y:0.23, Z:-1.60 [[ 0.98513049 -0.1242241 -0.1186857 9.74502757] [ 0.12888285 0.99113075 0.03238894 0.22947764] [ 0.11360956 -0.04720388 0.99240348 -1.60264651] [ 0. 0. 0. 1. ]] SLAMing on 115.62719347 meters Centerline goodness : 0.862188 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.60 [[ 0.98541779 -0.12260403 -0.11798321 9.74359473] [ 0.12738308 0.99127658 0.03382728 0.22585676] [ 0.11280663 -0.04836306 0.99243926 -1.60230198] [ 0. 0. 0. 1. ]] SLAMing on 115.65719347 meters Centerline goodness : 0.862496 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.60 [[ 0.98537847 -0.12441849 -0.11640153 9.7417321 ] [ 0.12882046 0.99118135 0.03106159 0.22390772] [ 0.11151039 -0.04560232 0.99271641 -1.60290956] [ 0. 0. 0. 1. ]] SLAMing on 115.68719347 meters Centerline goodness : 0.863767 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.61 [[ 0.98526688 -0.12552012 -0.11616314 9.74411809] [ 0.12978 0.99109386 0.02983484 0.220291 ] [ 0.1113837 -0.04447093 0.99278195 -1.60500339] [ 0. 0. 0. 1. ]] SLAMing on 115.71719347 meters Centerline goodness : 0.862967 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.61 [[ 0.98529245 -0.12506096 -0.11644117 9.74536358] [ 0.12945537 0.99110229 0.0309443 0.21753956] [ 0.11153519 -0.04556312 0.99271542 -1.60532688] [ 0. 0. 0. 1. ]] SLAMing on 115.74719347 meters Centerline goodness : 0.864849 Centerline is valid? [False, False] Translation: X:9.74, Y:0.22, Z:-1.61 [[ 0.98513044 -0.12749763 -0.1151624 9.74381001] [ 0.13154025 0.99091013 0.02818294 0.21547672] [ 0.11052233 -0.04291236 0.9929468 -1.60530939] [ 0. 0. 0. 1. ]] SLAMing on 115.77719347 meters Centerline goodness : 0.868075 Centerline is valid? [False, False] Translation: X:9.74, Y:0.21, Z:-1.60 [[ 0.98502239 -0.12892058 -0.11450054 9.74389784] [ 0.13294479 0.99072213 0.02820184 0.20696675] [ 0.10980242 -0.0430017 0.9930228 -1.60459282] [ 0. 0. 0. 1. ]] SLAMing on 115.80719347 meters Centerline goodness : 0.866355 Centerline is valid? [False, False] Translation: X:9.75, Y:0.20, Z:-1.60 [[ 0.98501848 -0.12815221 -0.11539327 9.74644285] [ 0.13254173 0.99068706 0.03117438 0.20064476] [ 0.11032355 -0.04600176 0.99283058 -1.60423828] [ 0. 0. 0. 1. ]] SLAMing on 115.83719347 meters Centerline goodness : 0.869347 Centerline is valid? [False, False] Translation: X:9.75, Y:0.19, Z:-1.60 [[ 0.98498854 -0.12730842 -0.1165768 9.74958256] [ 0.13210855 0.9906386 0.03438738 0.19434375] [ 0.11110767 -0.04927197 0.9925862 -1.60389083] [ 0. 0. 0. 1. ]] SLAMing on 115.86719347 meters Centerline goodness : 0.872073 Centerline is valid? [False, False] Translation: X:9.75, Y:0.18, Z:-1.60 [[ 0.98459458 -0.13105756 -0.1157473 9.75006443] [ 0.13568908 0.99020004 0.03305069 0.18383529] [ 0.11028143 -0.04824717 0.99272867 -1.6028499 ] [ 0. 0. 0. 1. ]] SLAMing on 115.89719347 meters Centerline goodness : 0.874031 Centerline is valid? [False, False] Translation: X:9.75, Y:0.18, Z:-1.60 [[ 0.98415661 -0.13408944 -0.11599905 9.75180895] [ 0.13863547 0.98982584 0.03201596 0.17838431] [ 0.11052585 -0.0475903 0.9927332 -1.60209029] [ 0. 0. 0. 1. ]] SLAMing on 115.92719347 meters Centerline goodness : 0.875905 Centerline is valid? [False, False] Translation: X:9.75, Y:0.17, Z:-1.60 [[ 0.98367793 -0.13732676 -0.1162716 9.75365307] [ 0.14180158 0.9894067 0.03109161 0.17252638] [ 0.11077019 -0.04707163 0.99273069 -1.60126307] [ 0. 0. 0. 1. ]] SLAMing on 115.95719346999999 meters Centerline goodness : 0.878419 Centerline is valid? [False, False] Translation: X:9.76, Y:0.17, Z:-1.60 [[ 0.98310304 -0.14097466 -0.11676711 9.75595414] [ 0.14537361 0.98892155 0.03001148 0.16650616] [ 0.11124265 -0.04647924 0.99270577 -1.60027101] [ 0. 0. 0. 1. ]] SLAMing on 115.98719347 meters Centerline goodness : 0.881914 Centerline is valid? [False, False] Translation: X:9.76, Y:0.15, Z:-1.60 [[ 0.98176165 -0.14947074 -0.11748433 9.7574749 ] [ 0.15384198 0.98766945 0.02901208 0.15173867] [ 0.11169923 -0.04655697 0.99265086 -1.59533463] [ 0. 0. 0. 1. ]] SLAMing on 116.01719347 meters Centerline goodness : 0.883466 Centerline is valid? [False, False] Translation: X:9.76, Y:0.14, Z:-1.59 [[ 0.98104001 -0.15433239 -0.11722635 9.75783397] [ 0.15849369 0.98699102 0.02699027 0.14442114] [ 0.11153588 -0.04505817 0.99273839 -1.59320251] [ 0. 0. 0. 1. ]] SLAMing on 116.04719347 meters Centerline goodness : 0.885630 Centerline is valid? [False, False] Translation: X:9.76, Y:0.14, Z:-1.59 [[ 0.97987392 -0.16216992 -0.11639594 9.7583833 ] [ 0.16569056 0.9859505 0.02117209 0.1399972 ] [ 0.11132716 -0.04003168 0.9929772 -1.59201715] [ 0. 0. 0. 1. ]] SLAMing on 116.07719347 meters Centerline goodness : 0.889930 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97917946 -0.16625317 -0.11647951 9.75958482] [ 0.16959468 0.98532452 0.01931933 0.13473756] [ 0.11155822 -0.0386714 0.99300518 -1.59073038] [ 0. 0. 0. 1. ]] SLAMing on 116.10719347 meters Centerline goodness : 0.892883 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97778755 -0.17467375 -0.11584725 9.76008204] [ 0.17734554 0.98406158 0.01309076 0.13140126] [ 0.11171421 -0.03334498 0.99318077 -1.58907302] [ 0. 0. 0. 1. ]] SLAMing on 116.13719347 meters Centerline goodness : 0.894021 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97762464 -0.1750495 -0.11665217 9.76178081] [ 0.17780009 0.98397369 0.01352438 0.13008023] [ 0.11241523 -0.03396254 0.99308074 -1.58884357] [ 0. 0. 0. 1. ]] SLAMing on 116.16719347 meters Centerline goodness : 0.889518 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 0.97756156 -0.17522102 -0.11692299 9.76238265] [ 0.17802126 0.98392889 0.01386994 0.1289436 ] [ 0.1126136 -0.0343735 0.99304413 -1.58864848] [ 0. 0. 0. 1. ]] SLAMing on 116.19719347 meters Centerline goodness : 0.897516 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 9.76762479e-01 -1.79985264e-01 -1.16363072e-01 9.76264510e+00] [ 1.82254468e-01 9.83209508e-01 9.07593204e-03 1.31697040e-01] [ 1.12775745e-01 -3.00727198e-02 9.93165275e-01 -1.58880521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22719347 meters Centerline goodness : 0.894686 Centerline is valid? [False, False] Translation: X:9.76, Y:0.13, Z:-1.59 [[ 9.76617789e-01 -1.80580255e-01 -1.16655326e-01 9.76344028e+00] [ 1.82773843e-01 9.83119956e-01 8.29910128e-03 1.34032358e-01] [ 1.13187525e-01 -2.94265922e-02 9.93137785e-01 -1.58919099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25719347 meters Centerline goodness : 0.896278 Centerline is valid? [False, False] Translation: X:9.76, Y:0.14, Z:-1.59 [[ 9.76423786e-01 -1.81401680e-01 -1.17004360e-01 9.76447139e+00] [ 1.83473608e-01 9.82999021e-01 7.09650370e-03 1.37667041e-01] [ 1.13727853e-01 -2.83964071e-02 9.93106046e-01 -1.58981960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28719347 meters Centerline goodness : 0.895401 Centerline is valid? [False, False] Translation: X:9.77, Y:0.14, Z:-1.59 [[ 9.76165685e-01 -1.82745461e-01 -1.17066869e-01 9.76520290e+00] [ 1.84607276e-01 9.82798770e-01 5.17031884e-03 1.42283219e-01] [ 1.14108323e-01 -2.66584836e-02 9.93110576e-01 -1.59068505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31719347 meters Centerline goodness : 0.886896 Centerline is valid? [False, False] Translation: X:9.77, Y:0.15, Z:-1.59 [[ 9.76432170e-01 -1.80710638e-01 -1.17999503e-01 9.76600879e+00] [ 1.82739619e-01 9.83139744e-01 6.51724993e-03 1.48202862e-01] [ 1.14832265e-01 -2.79268367e-02 9.92992267e-01 -1.59129780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34719347 meters Centerline goodness : 0.891495 Centerline is valid? [False, False] Translation: X:9.77, Y:0.15, Z:-1.59 [[ 9.76835096e-01 -1.78033963e-01 -1.18731220e-01 9.76566334e+00] [ 1.80334054e-01 9.83565779e-01 8.83103043e-03 1.50989613e-01] [ 1.15207741e-01 -3.00377426e-02 9.92887159e-01 -1.59085715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37719347 meters Centerline goodness : 0.886438 Centerline is valid? [False, False] Translation: X:9.77, Y:0.15, Z:-1.59 [[ 0.9771398 -0.17583447 -0.11949914 9.76574206] [ 0.17834338 0.98391174 0.01055086 0.15482939] [ 0.1157214 -0.03162155 0.99277824 -1.59085924] [ 0. 0. 0. 1. ]] SLAMing on 116.40719347 meters Centerline goodness : 0.890573 Centerline is valid? [False, False] Translation: X:9.77, Y:0.16, Z:-1.59 [[ 0.97738413 -0.17363224 -0.12071498 9.76704183] [ 0.17637922 0.98424452 0.01237348 0.15876017] [ 0.11666462 -0.03338525 0.99261009 -1.59117653] [ 0. 0. 0. 1. ]] SLAMing on 116.43719347 meters Centerline goodness : 0.890316 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:-1.59 [[ 0.97728358 -0.17344682 -0.12179082 9.76737059] [ 0.17618909 0.98428274 0.01203697 0.16774799] [ 0.11778883 -0.03322175 0.9924828 -1.59114922] [ 0. 0. 0. 1. ]] SLAMing on 116.46719347 meters Centerline goodness : 0.891134 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:-1.59 [[ 0.97724046 -0.17266756 -0.12323549 9.76843931] [ 0.17559034 0.98437508 0.01318076 0.17168623] [ 0.11903406 -0.03451973 0.99228992 -1.59036362] [ 0. 0. 0. 1. ]] SLAMing on 116.49719347 meters Centerline goodness : 0.893069 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:-1.59 [[ 0.97711375 -0.17282687 -0.12401447 9.76749533] [ 0.17564028 0.98438079 0.01203957 0.1814854 ] [ 0.1199967 -0.03354597 0.99220737 -1.58951849] [ 0. 0. 0. 1. ]] SLAMing on 116.52719347 meters Centerline goodness : 0.892541 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:-1.59 [[ 9.77301032e-01 -1.68834748e-01 -1.27974686e-01 9.75974504e+00] [ 1.70782564e-01 9.85299258e-01 4.32292398e-03 1.87317936e-01] [ 1.25363503e-01 -2.60806431e-02 9.91768013e-01 -1.58948830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55719347 meters Centerline goodness : 0.891655 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:-1.59 [[ 9.77769378e-01 -1.65414964e-01 -1.28860131e-01 9.76081968e+00] [ 1.67547217e-01 9.85846931e-01 5.81020945e-03 1.93444349e-01] [ 1.26075269e-01 -2.72712012e-02 9.91645757e-01 -1.59089520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58719347 meters Centerline goodness : 0.892814 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.59 [[ 0.97871204 -0.15843813 -0.13046113 9.76215296] [ 0.16126314 0.98684659 0.01131407 0.19785605] [ 0.12695254 -0.03211178 0.99138887 -1.59194073] [ 0. 0. 0. 1. ]] SLAMing on 116.61719347 meters Centerline goodness : 0.895170 Centerline is valid? [False, False] Translation: X:9.75, Y:0.21, Z:-1.59 [[ 0.98036906 -0.14365796 -0.13505146 9.74717014] [ 0.14659539 0.98912361 0.01201106 0.21101926] [ 0.13185711 -0.03157319 0.99076578 -1.59078768] [ 0. 0. 0. 1. ]] SLAMing on 116.64719347 meters Centerline goodness : 0.895917 Centerline is valid? [False, False] Translation: X:9.75, Y:0.22, Z:-1.59 [[ 0.9816266 -0.13279588 -0.13701997 9.7470232 ] [ 0.13687643 0.99037059 0.02075908 0.2175725 ] [ 0.13294383 -0.03913246 0.99035074 -1.5903634 ] [ 0. 0. 0. 1. ]] SLAMing on 116.67719347 meters Centerline goodness : 0.897948 Centerline is valid? [False, False] Translation: X:9.74, Y:0.23, Z:-1.59 [[ 0.98269398 -0.12772436 -0.13416048 9.74055275] [ 0.13143297 0.99114059 0.01912329 0.2280029 ] [ 0.13052938 -0.03642545 0.99077508 -1.59001976] [ 0. 0. 0. 1. ]] SLAMing on 116.70719346999999 meters Centerline goodness : 0.899896 Centerline is valid? [False, False] Translation: X:9.74, Y:0.24, Z:-1.59 [[ 0.98437906 -0.12499782 -0.12398954 9.74459952] [ 0.1283766 0.99153151 0.01961419 0.2391674 ] [ 0.12048781 -0.03522515 0.99208965 -1.59208378] [ 0. 0. 0. 1. ]] SLAMing on 116.73719347 meters Centerline goodness : 0.898671 Centerline is valid? [False, False] Translation: X:9.74, Y:0.25, Z:-1.59 [[ 0.98554791 -0.12215112 -0.11736447 9.73519498] [ 0.1244551 0.99214676 0.01247929 0.24861627] [ 0.11491842 -0.02690554 0.9930105 -1.59271381] [ 0. 0. 0. 1. ]] SLAMing on 116.76719347 meters Centerline goodness : 0.898255 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.59 [[ 0.98723069 -0.11154594 -0.11372365 9.72844902] [ 0.11376841 0.9934193 0.01322302 0.25895469] [ 0.11150029 -0.02599233 0.99342442 -1.59460261] [ 0. 0. 0. 1. ]] SLAMing on 116.79719347 meters Centerline goodness : 0.897540 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.60 [[ 0.98750532 -0.11009832 -0.11274573 9.72620976] [ 0.11211031 0.99362754 0.01164399 0.26294723] [ 0.11074528 -0.02413846 0.99355564 -1.59537197] [ 0. 0. 0. 1. ]] SLAMing on 116.82719347 meters Centerline goodness : 0.900017 Centerline is valid? [False, False] Translation: X:9.72, Y:0.27, Z:-1.60 [[ 0.98770867 -0.10912514 -0.11190749 9.72458945] [ 0.11092579 0.99377864 0.0099737 0.26679734] [ 0.11012289 -0.02226454 0.99366858 -1.59631273] [ 0. 0. 0. 1. ]] SLAMing on 116.85719347 meters Centerline goodness : 0.898787 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.87652923e-01 -1.09401315e-01 -1.12129644e-01 9.72524598e+00] [ 1.11134664e-01 9.93761772e-01 9.30735921e-03 2.68416145e-01] [ 1.10411916e-01 -2.16539307e-02 9.93649997e-01 -1.59683444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88719347 meters Centerline goodness : 0.899029 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88361081e-01 -1.15078970e-01 -9.94947433e-02 9.72801555e+00] [ 1.16184814e-01 9.93213077e-01 5.37325005e-03 2.73088842e-01] [ 9.82011321e-02 -1.68704894e-02 9.95023580e-01 -1.60165363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91719347 meters Centerline goodness : 0.899688 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88466276e-01 -1.14261849e-01 -9.93914071e-02 9.72827843e+00] [ 1.15415915e-01 9.93299607e-01 5.92094083e-03 2.72643362e-01] [ 9.80489079e-02 -1.73240005e-02 9.95030799e-01 -1.60229459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94719347 meters Centerline goodness : 0.900263 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88736568e-01 -1.12321326e-01 -9.89136897e-02 9.72827681e+00] [ 1.13663659e-01 9.93486886e-01 8.02368058e-03 2.68507980e-01] [ 9.73682232e-02 -1.91761983e-02 9.95063668e-01 -1.60292736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97719347 meters Centerline goodness : 0.894179 Centerline is valid? [False, False] Translation: X:9.73, Y:0.27, Z:-1.60 [[ 9.88720504e-01 -1.12215274e-01 -9.91942439e-02 9.72991544e+00] [ 1.13644163e-01 9.93482047e-01 8.85589644e-03 2.66022882e-01] [ 9.75539336e-02 -2.00288532e-02 9.95028681e-01 -1.60379110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00719347 meters Centerline goodness : 0.895665 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.61 [[ 9.88442325e-01 -1.14790675e-01 -9.90195481e-02 9.73205612e+00] [ 1.15979787e-01 9.93231479e-01 6.31813422e-03 2.64066516e-01] [ 9.76240692e-02 -1.77293774e-02 9.95065430e-01 -1.60574822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03719347 meters Centerline goodness : 0.895859 Centerline is valid? [False, False] Translation: X:9.73, Y:0.26, Z:-1.61 [[ 9.88120585e-01 -1.17626645e-01 -9.89023863e-02 9.73431203e+00] [ 1.18579187e-01 9.92937373e-01 3.78801454e-03 2.61415758e-01] [ 9.77583042e-02 -1.54707797e-02 9.95089930e-01 -1.60751506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06719347 meters Centerline goodness : 0.892971 Centerline is valid? [False, False] Translation: X:9.74, Y:0.25, Z:-1.61 [[ 9.87433213e-01 -1.19743529e-01 -1.03136501e-01 9.74275083e+00] [ 1.21242304e-01 9.92587695e-01 8.36487900e-03 2.53536358e-01] [ 1.01370382e-01 -2.07642663e-02 9.94632038e-01 -1.60844167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09719347 meters Centerline goodness : 0.895577 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.61 [[ 0.9872504 -0.12052276 -0.10397557 9.74504928] [ 0.12222179 0.99245138 0.01010362 0.24959662] [ 0.10197298 -0.02268288 0.99452853 -1.60805098] [ 0. 0. 0. 1. ]] SLAMing on 117.12719347 meters Centerline goodness : 0.895577 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.61 [[ 0.9872504 -0.12052276 -0.10397557 9.74504928] [ 0.12222179 0.99245138 0.01010362 0.24959662] [ 0.10197298 -0.02268288 0.99452853 -1.60805098] [ 0. 0. 0. 1. ]] SLAMing on 117.15719347 meters Centerline goodness : 0.894773 Centerline is valid? [False, False] Translation: X:9.75, Y:0.25, Z:-1.61 [[ 0.9870804 -0.12095781 -0.1050785 9.74718747] [ 0.12292233 0.99233881 0.01240122 0.24549596] [ 0.10277345 -0.02515749 0.9943866 -1.60683349] [ 0. 0. 0. 1. ]] SLAMing on 117.18719347 meters Centerline goodness : 0.886310 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98647077 -0.12539625 -0.1055993 9.74879025] [ 0.12739073 0.99177594 0.012332 0.23838065] [ 0.10318446 -0.02561753 0.99433229 -1.60440472] [ 0. 0. 0. 1. ]] SLAMing on 117.21719347 meters Centerline goodness : 0.891063 Centerline is valid? [False, False] Translation: X:9.75, Y:0.24, Z:-1.60 [[ 0.98600995 -0.12921858 -0.10529453 9.74936742] [ 0.13097814 0.99133541 0.00994159 0.23519583] [ 0.10309756 -0.02359379 0.99439139 -1.6040121 ] [ 0. 0. 0. 1. ]] SLAMing on 117.24719347 meters Centerline goodness : 0.890122 Centerline is valid? [False, False] Translation: X:9.75, Y:0.23, Z:-1.60 [[ 0.98569673 -0.13033972 -0.10683408 9.75283704] [ 0.13236325 0.99112811 0.0120435 0.23028093] [ 0.10431652 -0.02601215 0.99420392 -1.60320343] [ 0. 0. 0. 1. ]] SLAMing on 117.27719347 meters Centerline goodness : 0.889003 Centerline is valid? [False, False] Translation: X:9.76, Y:0.23, Z:-1.60 [[ 0.98550307 -0.13088459 -0.10794866 9.75555431] [ 0.13313626 0.99100039 0.01389096 0.22608935] [ 0.10515906 -0.02806147 0.99405942 -1.60277017] [ 0. 0. 0. 1. ]] SLAMing on 117.30719347 meters Centerline goodness : 0.888368 Centerline is valid? [False, False] Translation: X:9.76, Y:0.22, Z:-1.60 [[ 0.98533967 -0.13123564 -0.10900892 9.75842628] [ 0.13369637 0.99090037 0.01554822 0.22236801] [ 0.1059765 -0.02989438 0.99391917 -1.60278419] [ 0. 0. 0. 1. ]] SLAMing on 117.33719347 meters Centerline goodness : 0.889567 Centerline is valid? [False, False] Translation: X:9.76, Y:0.22, Z:-1.60 [[ 0.98521578 -0.1311254 -0.11025421 9.76159757] [ 0.13394925 0.99081408 0.01857545 0.21647508] [ 0.10680571 -0.03306929 0.99372982 -1.60241082] [ 0. 0. 0. 1. ]] SLAMing on 117.36719347 meters Centerline goodness : 0.885663 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98526847 -0.13065654 -0.11033999 9.76167113] [ 0.13359802 0.99084043 0.01966768 0.21426848] [ 0.10675961 -0.03411915 0.99369928 -1.60189052] [ 0. 0. 0. 1. ]] SLAMing on 117.39719347 meters Centerline goodness : 0.885920 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98559777 -0.12670106 -0.11199941 9.76388654] [ 0.13030144 0.99114892 0.02540361 0.21082468] [ 0.10778943 -0.03963143 0.99338351 -1.60085674] [ 0. 0. 0. 1. ]] SLAMing on 117.42719347 meters Centerline goodness : 0.888449 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98563855 -0.12635627 -0.11203006 9.76348532] [ 0.13004109 0.99116269 0.02618849 0.20954258] [ 0.10773093 -0.0403809 0.99335967 -1.6000102 ] [ 0. 0. 0. 1. ]] SLAMing on 117.45719346999999 meters Centerline goodness : 0.887442 Centerline is valid? [False, False] Translation: X:9.76, Y:0.21, Z:-1.60 [[ 0.98573701 -0.12525427 -0.11240069 9.76362365] [ 0.12919018 0.99121262 0.02841557 0.20680904] [ 0.10785381 -0.04253134 0.99325658 -1.59865369] [ 0. 0. 0. 1. ]] SLAMing on 117.48719347 meters Centerline goodness : 0.887822 Centerline is valid? [False, False] Translation: X:9.77, Y:0.21, Z:-1.60 [[ 0.98574074 -0.12473829 -0.11294044 9.76511503] [ 0.12880363 0.99123376 0.02941536 0.20523387] [ 0.10828115 -0.04354306 0.99316625 -1.5989007 ] [ 0. 0. 0. 1. ]] SLAMing on 117.51719347 meters Centerline goodness : 0.884673 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98575006 -0.12468007 -0.11292338 9.76543051] [ 0.12876353 0.99123373 0.02959145 0.20414536] [ 0.108244 -0.04371019 0.99316296 -1.59912991] [ 0. 0. 0. 1. ]] SLAMing on 117.54719347 meters Centerline goodness : 0.884862 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98583698 -0.12424568 -0.11264308 9.76578201] [ 0.12837457 0.99126748 0.03014563 0.20197947] [ 0.10791395 -0.04417918 0.99317812 -1.59975814] [ 0. 0. 0. 1. ]] SLAMing on 117.57719347 meters Centerline goodness : 0.883175 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98584408 -0.12418579 -0.112647 9.76638224] [ 0.12831123 0.9912766 0.03011533 0.20181168] [ 0.10792444 -0.04414289 0.99317859 -1.60040986] [ 0. 0. 0. 1. ]] SLAMing on 117.60719347 meters Centerline goodness : 0.885910 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98588868 -0.12378435 -0.11269844 9.76625298] [ 0.12795787 0.99130876 0.03055684 0.20146491] [ 0.10793649 -0.04454629 0.99315927 -1.60005221] [ 0. 0. 0. 1. ]] SLAMing on 117.63719347 meters Centerline goodness : 0.885029 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98608709 -0.12277392 -0.11206612 9.76420454] [ 0.12695594 0.99142538 0.03094991 0.20232078] [ 0.10730536 -0.04474677 0.99321865 -1.59921895] [ 0. 0. 0. 1. ]] SLAMing on 117.66719347 meters Centerline goodness : 0.887547 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98614884 -0.12222712 -0.11212049 9.76433343] [ 0.12641121 0.99149424 0.03097366 0.20280588] [ 0.107381 -0.04471793 0.99321177 -1.5994779 ] [ 0. 0. 0. 1. ]] SLAMing on 117.69719347 meters Centerline goodness : 0.885285 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98623465 -0.12188811 -0.11173404 9.76399583] [ 0.12600434 0.99156001 0.03052308 0.20339658] [ 0.1070706 -0.04418189 0.99326927 -1.60018645] [ 0. 0. 0. 1. ]] SLAMing on 117.72719347 meters Centerline goodness : 0.886111 Centerline is valid? [False, False] Translation: X:9.76, Y:0.20, Z:-1.60 [[ 0.98631308 -0.12157107 -0.11138664 9.76426138] [ 0.12563857 0.9916154 0.03023002 0.2031771 ] [ 0.10677761 -0.04381072 0.99331725 -1.60143763] [ 0. 0. 0. 1. ]] SLAMing on 117.75719347 meters Centerline goodness : 0.886076 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98635179 -0.12114089 -0.11151249 9.76510361] [ 0.12524642 0.99165511 0.03055301 0.20208592] [ 0.10688071 -0.04410255 0.99329325 -1.60204381] [ 0. 0. 0. 1. ]] SLAMing on 117.78719347 meters Centerline goodness : 0.890459 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.9863851 -0.12103807 -0.11132936 9.765363 ] [ 0.1251435 0.99166562 0.03063335 0.20137382] [ 0.1066937 -0.04414843 0.99331132 -1.60254935] [ 0. 0. 0. 1. ]] SLAMing on 117.81719347 meters Centerline goodness : 0.890397 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98636357 -0.120768 -0.11181231 9.76647375] [ 0.12496853 0.99166597 0.0313283 0.200849 ] [ 0.107097 -0.04487411 0.99323539 -1.60256904] [ 0. 0. 0. 1. ]] SLAMing on 117.84719347 meters Centerline goodness : 0.890141 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98626995 -0.1212031 -0.11216683 9.76814039] [ 0.12542318 0.99160826 0.03133836 0.2000225 ] [ 0.10742725 -0.0449764 0.9931951 -1.60341852] [ 0. 0. 0. 1. ]] SLAMing on 117.87719347 meters Centerline goodness : 0.890200 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.60 [[ 0.98617422 -0.12144617 -0.11274413 9.77065407] [ 0.12571867 0.99156361 0.03156626 0.19876295] [ 0.10795937 -0.04530387 0.99312252 -1.6047391 ] [ 0. 0. 0. 1. ]] SLAMing on 117.90719347 meters Centerline goodness : 0.890648 Centerline is valid? [False, False] Translation: X:9.77, Y:0.20, Z:-1.61 [[ 0.98625066 -0.12056806 -0.11301758 9.77372302] [ 0.12497193 0.99162123 0.03270108 0.19523085] [ 0.10812792 -0.04637548 0.99305471 -1.60705905] [ 0. 0. 0. 1. ]] SLAMing on 117.93719347 meters Centerline goodness : 0.888522 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:-1.61 [[ 0.9864091 -0.11949542 -0.11277383 9.77360956] [ 0.12402863 0.99169422 0.03405093 0.19218362] [ 0.10776822 -0.04757533 0.99303706 -1.60708756] [ 0. 0. 0. 1. ]] SLAMing on 117.96719347 meters Centerline goodness : 0.890049 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:-1.61 [[ 0.98661423 -0.11820419 -0.11233938 9.77325557] [ 0.12285772 0.99179197 0.03542133 0.18906269] [ 0.10723034 -0.04874895 0.99303836 -1.6072879 ] [ 0. 0. 0. 1. ]] SLAMing on 117.99719347 meters Centerline goodness : 0.888568 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:-1.61 [[ 0.98682112 -0.1169232 -0.11186172 9.7731404 ] [ 0.12165367 0.99190428 0.03641809 0.18669462] [ 0.106698 -0.04954653 0.99305623 -1.60807206] [ 0. 0. 0. 1. ]] SLAMing on 118.02719347 meters Centerline goodness : 0.888989 Centerline is valid? [False, False] Translation: X:9.78, Y:0.18, Z:-1.61 [[ 0.98795855 -0.11002282 -0.10877908 9.77647739] [ 0.11413585 0.99293936 0.03231779 0.18357064] [ 0.10445534 -0.04434423 0.99354047 -1.6064658 ] [ 0. 0. 0. 1. ]] SLAMing on 118.05719347 meters Centerline goodness : 0.890388 Centerline is valid? [False, False] Translation: X:9.78, Y:0.18, Z:-1.61 [[ 0.98821453 -0.10802367 -0.10845705 9.77602798] [ 0.11230386 0.99308704 0.03414629 0.18050795] [ 0.10401868 -0.04592401 0.99351452 -1.60649875] [ 0. 0. 0. 1. ]] SLAMing on 118.08719347 meters Centerline goodness : 0.892382 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:-1.60 [[ 0.98870159 -0.1040251 -0.10792562 9.77491209] [ 0.1087972 0.99328691 0.03929735 0.16946045] [ 0.10311319 -0.05059535 0.99338199 -1.60477873] [ 0. 0. 0. 1. ]] SLAMing on 118.11719347 meters Centerline goodness : 0.894517 Centerline is valid? [False, False] Translation: X:9.78, Y:0.17, Z:-1.60 [[ 0.98894962 -0.10546949 -0.10418654 9.77785665] [ 0.10889819 0.99366488 0.02777227 0.16599918] [ 0.10059738 -0.03881111 0.99416994 -1.60172137] [ 0. 0. 0. 1. ]] SLAMing on 118.14719347 meters Centerline goodness : 0.892114 Centerline is valid? [False, False] Translation: X:9.78, Y:0.16, Z:-1.60 [[ 0.9887152 -0.10777124 -0.10405586 9.77918567] [ 0.1111953 0.99341333 0.02766883 0.15843505] [ 0.10038857 -0.03892712 0.99418651 -1.60137144] [ 0. 0. 0. 1. ]] SLAMing on 118.17719347 meters Centerline goodness : 0.895643 Centerline is valid? [False, False] Translation: X:9.78, Y:0.15, Z:-1.60 [[ 0.98833439 -0.11125325 -0.10400887 9.78047587] [ 0.114605 0.9930494 0.02680625 0.15093698] [ 0.10030367 -0.03841348 0.99421506 -1.60062191] [ 0. 0. 0. 1. ]] SLAMing on 118.20719346999999 meters Centerline goodness : 0.893740 Centerline is valid? [False, False] Translation: X:9.78, Y:0.13, Z:-1.60 [[ 0.98753123 -0.117264 -0.10502963 9.78448256] [ 0.12087037 0.99225522 0.02863429 0.13340386] [ 0.10085842 -0.04097223 0.99405677 -1.60009275] [ 0. 0. 0. 1. ]] SLAMing on 118.23719347 meters Centerline goodness : 0.892496 Centerline is valid? [False, False] Translation: X:9.79, Y:0.13, Z:-1.60 [[ 0.98718096 -0.12011832 -0.1050968 9.78605023] [ 0.12367862 0.9919267 0.0280181 0.12624221] [ 0.10088283 -0.04065716 0.99406723 -1.59943949] [ 0. 0. 0. 1. ]] SLAMing on 118.26719347 meters Centerline goodness : 0.895452 Centerline is valid? [False, False] Translation: X:9.79, Y:0.12, Z:-1.60 [[ 0.98681708 -0.12303706 -0.10513765 9.78762217] [ 0.12651231 0.99159684 0.02702503 0.12000188] [ 0.10092908 -0.03996996 0.9940904 -1.59904869] [ 0. 0. 0. 1. ]] SLAMing on 118.29719347 meters Centerline goodness : 0.894141 Centerline is valid? [False, False] Translation: X:9.79, Y:0.11, Z:-1.60 [[ 0.9864482 -0.125849 -0.10527098 9.78934892] [ 0.12923185 0.99127536 0.02592848 0.11427696] [ 0.10108946 -0.03918147 0.99410549 -1.59875578] [ 0. 0. 0. 1. ]] SLAMing on 118.32719347 meters Centerline goodness : 0.889887 Centerline is valid? [False, False] Translation: X:9.79, Y:0.11, Z:-1.60 [[ 0.98607748 -0.12879169 -0.10518508 9.79046501] [ 0.13207556 0.99092821 0.02484592 0.10823144] [ 0.10103092 -0.03839238 0.99414223 -1.59816801] [ 0. 0. 0. 1. ]] SLAMing on 118.35719347 meters Centerline goodness : 0.895685 Centerline is valid? [False, False] Translation: X:9.79, Y:0.10, Z:-1.60 [[ 0.98567228 -0.13176616 -0.10529884 9.79242871] [ 0.13517023 0.99048534 0.02584174 0.09561272] [ 0.10089189 -0.03970475 0.9941048 -1.59697412] [ 0. 0. 0. 1. ]] SLAMing on 118.38719347 meters Centerline goodness : 0.892658 Centerline is valid? [False, False] Translation: X:9.79, Y:0.09, Z:-1.60 [[ 0.98518803 -0.13532229 -0.10532057 9.79371861] [ 0.13852399 0.99007621 0.02366874 0.09157903] [ 0.10107249 -0.03790759 0.99415661 -1.59657069] [ 0. 0. 0. 1. ]] SLAMing on 118.41719347 meters Centerline goodness : 0.896394 Centerline is valid? [False, False] Translation: X:9.80, Y:0.08, Z:-1.60 [[ 0.98416638 -0.14290562 -0.10485473 9.79611062] [ 0.14562771 0.98916194 0.01874113 0.08333066] [ 0.1010401 -0.03371414 0.99431094 -1.59649801] [ 0. 0. 0. 1. ]] SLAMing on 118.44719347 meters Centerline goodness : 0.890299 Centerline is valid? [False, False] Translation: X:9.80, Y:0.08, Z:-1.60 [[ 0.98361648 -0.1466772 -0.10480662 9.79799587] [ 0.14915503 0.98868167 0.01616583 0.07986695] [ 0.10124923 -0.03153341 0.99436122 -1.59706526] [ 0. 0. 0. 1. ]] SLAMing on 118.47719347 meters Centerline goodness : 0.888443 Centerline is valid? [False, False] Translation: X:9.80, Y:0.08, Z:-1.60 [[ 0.98305383 -0.15048337 -0.1046897 9.7999038 ] [ 0.15270479 0.98817975 0.01349142 0.07632092] [ 0.101422 -0.02924941 0.99441342 -1.5978149 ] [ 0. 0. 0. 1. ]] SLAMing on 118.50719347 meters Centerline goodness : 0.889657 Centerline is valid? [False, False] Translation: X:9.80, Y:0.07, Z:-1.60 [[ 0.98248365 -0.15431896 -0.10445831 9.80156714] [ 0.15627604 0.98765472 0.01076799 0.07294298] [ 0.10150703 -0.0269037 0.99447097 -1.59849854] [ 0. 0. 0. 1. ]] SLAMing on 118.53719347 meters Centerline goodness : 0.889031 Centerline is valid? [False, False] Translation: X:9.80, Y:0.07, Z:-1.60 [[ 9.81232567e-01 -1.62595878e-01 -1.03659197e-01 9.80347086e+00] [ 1.63979355e-01 9.86451553e-01 4.90961464e-03 6.65018525e-02] [ 1.01456493e-01 -2.18154420e-02 9.94600757e-01 -1.59888735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56719347 meters Centerline goodness : 0.889810 Centerline is valid? [False, False] Translation: X:9.80, Y:0.06, Z:-1.60 [[ 9.80603969e-01 -1.66635454e-01 -1.03191475e-01 9.80417888e+00] [ 1.67728596e-01 9.85831288e-01 1.94669304e-03 6.34109327e-02] [ 1.01404997e-01 -1.92170961e-02 9.94659605e-01 -1.59884606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59719347 meters Centerline goodness : 0.892247 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.79948630e-01 -1.70667252e-01 -1.02826900e-01 9.80528129e+00] [ 1.71450134e-01 9.85192017e-01 -1.24179421e-03 6.10729923e-02] [ 1.01516174e-01 -1.64127912e-02 9.94698490e-01 -1.59909755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62719347 meters Centerline goodness : 0.891044 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.79773437e-01 -1.71715435e-01 -1.02751261e-01 9.80682900e+00] [ 1.72470975e-01 9.85013377e-01 -1.55248595e-03 5.83076143e-02] [ 1.01477952e-01 -1.62005256e-02 9.94705870e-01 -1.59988829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65719347 meters Centerline goodness : 0.894066 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.80746189e-01 -1.70781929e-01 -9.47124385e-02 9.81376805e+00] [ 1.70830071e-01 9.85270730e-01 -7.65996566e-03 6.06776922e-02] [ 9.46255771e-02 -8.66725050e-03 9.95475203e-01 -1.60054834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68719347 meters Centerline goodness : 0.894944 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.81238024e-01 -1.67958743e-01 -9.46667891e-02 9.81102640e+00] [ 1.68220393e-01 9.85735338e-01 -5.26712002e-03 6.17893220e-02] [ 9.42010582e-02 -1.07565861e-02 9.95495081e-01 -1.59858864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71719347 meters Centerline goodness : 0.892983 Centerline is valid? [False, False] Translation: X:9.81, Y:0.06, Z:-1.60 [[ 9.81891224e-01 -1.63775558e-01 -9.52218016e-02 9.81005969e+00] [ 1.64362264e-01 9.86398575e-01 -1.70247391e-03 6.28685050e-02] [ 9.42054730e-02 -1.39792267e-02 9.95454625e-01 -1.59761539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74719347 meters Centerline goodness : 0.894847 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.83283304e-01 -1.56686007e-01 -9.27547223e-02 9.81406916e+00] [ 1.56857554e-01 9.87606014e-01 -5.48358464e-03 6.88968253e-02] [ 9.24643225e-02 -9.15736166e-03 9.95673888e-01 -1.59398962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77719347 meters Centerline goodness : 0.897011 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.83859081e-01 -1.52757069e-01 -9.32018576e-02 9.81379203e+00] [ 1.53232112e-01 9.88188035e-01 -2.08046279e-03 7.04564529e-02] [ 9.24187659e-02 -1.22346353e-02 9.95645060e-01 -1.59408517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80719347 meters Centerline goodness : 0.897584 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.84384939e-01 -1.49085871e-01 -9.35932387e-02 9.81342445e+00] [ 1.49853646e-01 9.88707474e-01 1.18980184e-03 7.19656588e-02] [ 9.23589520e-02 -1.51965111e-02 9.95609808e-01 -1.59413758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83719347 meters Centerline goodness : 0.896928 Centerline is valid? [False, False] Translation: X:9.81, Y:0.07, Z:-1.59 [[ 9.84718735e-01 -1.46916538e-01 -9.35122689e-02 9.81157274e+00] [ 1.47840094e-01 9.89006762e-01 2.98849525e-03 7.38967964e-02] [ 9.20452069e-02 -1.67676899e-02 9.95613642e-01 -1.59330530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86719347 meters Centerline goodness : 0.897183 Centerline is valid? [False, False] Translation: X:9.81, Y:0.08, Z:-1.59 [[ 9.85138940e-01 -1.43935054e-01 -9.37228339e-02 9.81194053e+00] [ 1.45024999e-01 9.89415916e-01 4.88825073e-03 7.82471968e-02] [ 9.20272730e-02 -1.84077601e-02 9.95586327e-01 -1.59444494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89719347 meters Centerline goodness : 0.897681 Centerline is valid? [False, False] Translation: X:9.81, Y:0.08, Z:-1.59 [[ 9.85130124e-01 -1.44041917e-01 -9.36512973e-02 9.81202122e+00] [ 1.45065009e-01 9.89413321e-01 4.17420153e-03 8.07314315e-02] [ 9.20585811e-02 -1.76976580e-02 9.95596309e-01 -1.59487001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92719347 meters Centerline goodness : 0.895439 Centerline is valid? [False, False] Translation: X:9.81, Y:0.08, Z:-1.60 [[ 9.85111105e-01 -1.44251774e-01 -9.35282628e-02 9.81198386e+00] [ 1.45193935e-01 9.89397670e-01 3.31224311e-03 8.37577097e-02] [ 9.20588484e-02 -1.68426640e-02 9.95611115e-01 -1.59537166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95719346999999 meters Centerline goodness : 0.896181 Centerline is valid? [False, False] Translation: X:9.81, Y:0.09, Z:-1.60 [[ 9.85595901e-01 -1.40472504e-01 -9.41710976e-02 9.81256176e+00] [ 1.41742933e-01 9.89879406e-01 6.90673739e-03 8.50964797e-02] [ 9.22478235e-02 -2.01553396e-02 9.95532069e-01 -1.59578253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98719347 meters Centerline goodness : 0.893014 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85731098e-01 -1.38965525e-01 -9.49883400e-02 9.81512594e+00] [ 1.40304781e-01 9.90079681e-01 7.53611098e-03 9.00597524e-02] [ 9.29987658e-02 -2.07558972e-02 9.95449859e-01 -1.59798032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01719347 meters Centerline goodness : 0.891285 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85609353e-01 -1.39526235e-01 -9.54286787e-02 9.81650098e+00] [ 1.40809600e-01 9.90013232e-01 6.81597681e-03 9.16728208e-02] [ 9.35246471e-02 -2.01551646e-02 9.95412934e-01 -1.59872023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04719347 meters Centerline goodness : 0.891285 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85609353e-01 -1.39526235e-01 -9.54286787e-02 9.81650098e+00] [ 1.40809600e-01 9.90013232e-01 6.81597681e-03 9.16728208e-02] [ 9.35246471e-02 -2.01551646e-02 9.95412934e-01 -1.59872023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07719347 meters Centerline goodness : 0.888534 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85318446e-01 -1.41316608e-01 -9.57975767e-02 9.81925647e+00] [ 1.42432305e-01 9.89792538e-01 4.87542124e-03 9.33936981e-02] [ 9.41307486e-02 -1.84485121e-02 9.95388896e-01 -1.60058773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10719347 meters Centerline goodness : 0.885958 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.85090184e-01 -1.42487609e-01 -9.64085583e-02 9.82128098e+00] [ 1.43572417e-01 9.89630145e-01 4.37455765e-03 9.31647399e-02] [ 9.47854953e-02 -1.81509435e-02 9.95332233e-01 -1.60114624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13719347 meters Centerline goodness : 0.888327 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.84936563e-01 -1.43280536e-01 -9.68021455e-02 9.82258513e+00] [ 1.44332798e-01 9.89521437e-01 3.92025001e-03 9.32335496e-02] [ 9.52261026e-02 -1.78329221e-02 9.95295924e-01 -1.60159583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16719347 meters Centerline goodness : 0.886367 Centerline is valid? [False, False] Translation: X:9.82, Y:0.09, Z:-1.60 [[ 9.84801195e-01 -1.44047569e-01 -9.70407388e-02 9.82386959e+00] [ 1.45047640e-01 9.89419189e-01 3.29408940e-03 9.40849285e-02] [ 9.55394634e-02 -1.73195533e-02 9.95274959e-01 -1.60246371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19719347 meters Centerline goodness : 0.884159 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.84826663e-01 -1.43353357e-01 -9.78072583e-02 9.82679324e+00] [ 1.44418550e-01 9.89509153e-01 3.86249039e-03 9.64375257e-02] [ 9.62274763e-02 -1.79290659e-02 9.95197881e-01 -1.60439010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22719347 meters Centerline goodness : 0.885123 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.85223764e-01 -1.39914188e-01 -9.87833777e-02 9.82795996e+00] [ 1.41349883e-01 9.89930119e-01 7.65305663e-03 9.57305565e-02] [ 9.67178697e-02 -2.15029921e-02 9.95079532e-01 -1.60458428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25719347 meters Centerline goodness : 0.881498 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.85143554e-01 -1.40325482e-01 -9.89996789e-02 9.82854471e+00] [ 1.41719333e-01 9.89881021e-01 7.15513304e-03 9.65645477e-02] [ 9.69938557e-02 -2.10790016e-02 9.95061741e-01 -1.60474799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28719347 meters Centerline goodness : 0.881948 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.85080810e-01 -1.40540114e-01 -9.93190513e-02 9.82940593e+00] [ 1.41930939e-01 9.89851499e-01 7.04398390e-03 9.66255791e-02] [ 9.73211495e-02 -2.10353396e-02 9.95030707e-01 -1.60494459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31719347 meters Centerline goodness : 0.883822 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.61 [[ 9.84533058e-01 -1.44700863e-01 -9.87740740e-02 9.82954149e+00] [ 1.45667505e-01 9.89330167e-01 2.60741610e-03 9.88659799e-02] [ 9.73428757e-02 -1.69552603e-02 9.95106469e-01 -1.60523792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34719347 meters Centerline goodness : 0.882467 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.61 [[ 9.84455334e-01 -1.45179585e-01 -9.88462571e-02 9.82966956e+00] [ 1.46112782e-01 9.89265427e-01 2.22935640e-03 9.96904843e-02] [ 9.74615276e-02 -1.66374034e-02 9.95100220e-01 -1.60519557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37719347 meters Centerline goodness : 0.883520 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.84386633e-01 -1.45614084e-01 -9.88913277e-02 9.82907848e+00] [ 1.46528370e-01 9.89204432e-01 2.00696343e-03 1.00286746e-01] [ 9.75314975e-02 -1.64660130e-02 9.95096215e-01 -1.60433472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40719347 meters Centerline goodness : 0.885785 Centerline is valid? [False, False] Translation: X:9.84, Y:0.10, Z:-1.61 [[ 9.84627424e-01 -1.49014860e-01 -9.11230357e-02 9.83704412e+00] [ 1.50244964e-01 9.88625735e-01 6.75335290e-03 1.02110116e-01] [ 8.90802281e-02 -2.03403137e-02 9.95816742e-01 -1.60560752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43719347 meters Centerline goodness : 0.883378 Centerline is valid? [False, False] Translation: X:9.83, Y:0.10, Z:-1.60 [[ 9.84568054e-01 -1.49936947e-01 -9.02477619e-02 9.83260907e+00] [ 1.51059411e-01 9.88508255e-01 5.69942613e-03 1.04534743e-01] [ 8.83561032e-02 -1.92442467e-02 9.95903036e-01 -1.60265648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46719347 meters Centerline goodness : 0.882350 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 9.84563128e-01 -1.50006913e-01 -9.01852127e-02 9.83224521e+00] [ 1.51076800e-01 9.88508783e-01 5.11720202e-03 1.06953831e-01] [ 8.83812592e-02 -1.86631018e-02 9.95911864e-01 -1.60252090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49719347 meters Centerline goodness : 0.883825 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 9.85050831e-01 -1.46357556e-01 -9.08533258e-02 9.83248316e+00] [ 1.47732770e-01 9.88990233e-01 8.56429042e-03 1.07860720e-01] [ 8.85996032e-02 -2.18582749e-02 9.95827458e-01 -1.60260028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52719347 meters Centerline goodness : 0.883611 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 0.98600832 -0.13901626 -0.09198947 9.83320433] [ 0.1409803 0.98989607 0.01517677 0.11032828] [ 0.0889502 -0.02793313 0.99564432 -1.60343501] [ 0. 0. 0. 1. ]] SLAMing on 119.55719347 meters Centerline goodness : 0.885098 Centerline is valid? [False, False] Translation: X:9.83, Y:0.11, Z:-1.60 [[ 0.98603488 -0.13903296 -0.09167905 9.8329851 ] [ 0.14086596 0.98993244 0.01380369 0.11473748] [ 0.0888369 -0.02652537 0.99569293 -1.60439269] [ 0. 0. 0. 1. ]] SLAMing on 119.58719347 meters Centerline goodness : 0.885242 Centerline is valid? [False, False] Translation: X:9.83, Y:0.12, Z:-1.60 [[ 0.98643133 -0.13569621 -0.09241083 9.83361997] [ 0.13777603 0.99032627 0.01648155 0.11758402] [ 0.08928039 -0.02898991 0.99558455 -1.60496697] [ 0. 0. 0. 1. ]] SLAMing on 119.61719347 meters Centerline goodness : 0.883479 Centerline is valid? [False, False] Translation: X:9.83, Y:0.12, Z:-1.61 [[ 0.98635798 -0.13621094 -0.09243657 9.83389176] [ 0.13815386 0.9902983 0.01492597 0.12159005] [ 0.0895067 -0.02749282 0.9956067 -1.60570332] [ 0. 0. 0. 1. ]] SLAMing on 119.64719347 meters Centerline goodness : 0.885350 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 0.98601305 -0.13851598 -0.0926908 9.83639282] [ 0.14014804 0.99006602 0.01130461 0.12733544] [ 0.09020415 -0.02413693 0.99563077 -1.60831433] [ 0. 0. 0. 1. ]] SLAMing on 119.67719347 meters Centerline goodness : 0.887771 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 0.98588217 -0.13917377 -0.09309673 9.83765531] [ 0.14074256 0.98999085 0.01047105 0.12913091] [ 0.09070761 -0.02342589 0.99560201 -1.60902365] [ 0. 0. 0. 1. ]] SLAMing on 119.70719346999999 meters Centerline goodness : 0.877454 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 9.85689027e-01 -1.40325660e-01 -9.34122593e-02 9.83865669e+00] [ 1.41798559e-01 9.89851955e-01 9.28844993e-03 1.31035852e-01] [ 9.11608996e-02 -2.24012470e-02 9.95584188e-01 -1.60947447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73719347 meters Centerline goodness : 0.876436 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 9.85508950e-01 -1.41196818e-01 -9.39976999e-02 9.83984895e+00] [ 1.42626281e-01 9.89738963e-01 8.63302152e-03 1.32584803e-01] [ 9.18142308e-02 -2.19144623e-02 9.95534983e-01 -1.60952416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76719347 meters Centerline goodness : 0.875852 Centerline is valid? [False, False] Translation: X:9.84, Y:0.13, Z:-1.61 [[ 9.85305218e-01 -1.42222995e-01 -9.45846081e-02 9.84099297e+00] [ 1.43593823e-01 9.89605863e-01 7.81346563e-03 1.34140086e-01] [ 9.24902282e-02 -2.12804139e-02 9.95486163e-01 -1.60949140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79719347 meters Centerline goodness : 0.877690 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 9.85024307e-01 -1.43823719e-01 -9.50886561e-02 9.84195319e+00] [ 1.45039256e-01 9.89407942e-01 5.96140962e-03 1.38380714e-01] [ 9.32240794e-02 -1.96637213e-02 9.95450958e-01 -1.60967202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82719347 meters Centerline goodness : 0.875764 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 9.84972913e-01 -1.44083053e-01 -9.52283265e-02 9.84198372e+00] [ 1.45232520e-01 9.89383805e-01 5.21545883e-03 1.40505895e-01] [ 9.34659048e-02 -1.89673356e-02 9.95441794e-01 -1.60958380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85719347 meters Centerline goodness : 0.876344 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 9.85398905e-01 -1.40409082e-01 -9.63030995e-02 9.84279442e+00] [ 1.41932943e-01 9.89834207e-01 9.12591460e-03 1.39836618e-01] [ 9.40427408e-02 -2.26612486e-02 9.95310218e-01 -1.60908055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88719347 meters Centerline goodness : 0.880111 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 0.98588233 -0.13628277 -0.09727811 9.8431807 ] [ 0.13820674 0.99031423 0.01328995 0.13891127] [ 0.09452471 -0.02654681 0.9951685 -1.60831875] [ 0. 0. 0. 1. ]] SLAMing on 119.91719347 meters Centerline goodness : 0.883740 Centerline is valid? [False, False] Translation: X:9.84, Y:0.14, Z:-1.61 [[ 0.98687895 -0.12849119 -0.09777495 9.84125925] [ 0.13098775 0.99119158 0.01953118 0.14229702] [ 0.09440412 -0.03208223 0.99501688 -1.60763609] [ 0. 0. 0. 1. ]] SLAMing on 119.94719347 meters Centerline goodness : 0.887531 Centerline is valid? [False, False] Translation: X:9.84, Y:0.15, Z:-1.61 [[ 0.98733835 -0.1246331 -0.09813038 9.84087597] [ 0.12734753 0.99161686 0.02187723 0.14666895] [ 0.09458111 -0.03409688 0.99493307 -1.60815196] [ 0. 0. 0. 1. ]] SLAMing on 119.97719347 meters Centerline goodness : 0.885091 Centerline is valid? [False, False] Translation: X:9.84, Y:0.15, Z:-1.61 [[ 0.987786 -0.12081024 -0.09840581 9.84007034] [ 0.12373154 0.99202248 0.02412264 0.15128792] [ 0.09470651 -0.03600391 0.99485396 -1.60831575] [ 0. 0. 0. 1. ]] SLAMing on 120.00719347 meters Centerline goodness : 0.884261 Centerline is valid? [False, False] Translation: X:9.84, Y:0.16, Z:-1.61 [[ 0.9885386 -0.11595058 -0.09667936 9.83527061] [ 0.11886392 0.99259777 0.02492039 0.15928686] [ 0.09307419 -0.03612646 0.99500356 -1.60809143] [ 0. 0. 0. 1. ]] SLAMing on 120.03719347 meters Centerline goodness : 0.886179 Centerline is valid? [False, False] Translation: X:9.83, Y:0.16, Z:-1.61 [[ 0.98865876 -0.11529851 -0.09622949 9.83460267] [ 0.11809687 0.99271465 0.02389062 0.16203411] [ 0.09277387 -0.03498407 0.99507242 -1.6089074 ] [ 0. 0. 0. 1. ]] SLAMing on 120.06719347 meters Centerline goodness : 0.888022 Centerline is valid? [False, False] Translation: X:9.83, Y:0.16, Z:-1.61 [[ 0.98871232 -0.11529597 -0.0956806 9.83350007] [ 0.1179684 0.99275691 0.02274166 0.16417083] [ 0.09236556 -0.03377225 0.99515227 -1.60922565] [ 0. 0. 0. 1. ]] SLAMing on 120.09719347 meters Centerline goodness : 0.887797 Centerline is valid? [False, False] Translation: X:9.83, Y:0.17, Z:-1.61 [[ 0.98869978 -0.11531184 -0.09579101 9.83396456] [ 0.11790393 0.99278489 0.0218365 0.16626837] [ 0.09258186 -0.03288388 0.99516192 -1.60989943] [ 0. 0. 0. 1. ]] SLAMing on 120.12719347 meters Centerline goodness : 0.888368 Centerline is valid? [False, False] Translation: X:9.83, Y:0.17, Z:-1.61 [[ 0.98870518 -0.11561621 -0.09536751 9.83330906] [ 0.11793355 0.99283946 0.01901252 0.1729913 ] [ 0.09248647 -0.0300448 0.99526055 -1.61114074] [ 0. 0. 0. 1. ]] SLAMing on 120.15719347 meters Centerline goodness : 0.888599 Centerline is valid? [False, False] Translation: X:9.83, Y:0.18, Z:-1.61 [[ 0.98902819 -0.11180053 -0.09656022 9.8348652 ] [ 0.11443041 0.99318488 0.02212411 0.17544122] [ 0.09342866 -0.0329308 0.99508123 -1.61163873] [ 0. 0. 0. 1. ]] SLAMing on 120.18719347 meters Centerline goodness : 0.892309 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.61 [[ 0.98986246 -0.10367581 -0.09707545 9.83548571] [ 0.10675892 0.99391529 0.0271095 0.18120573] [ 0.09367417 -0.03719835 0.99490775 -1.61419855] [ 0. 0. 0. 1. ]] SLAMing on 120.21719347 meters Centerline goodness : 0.886945 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99025758 -0.09961681 -0.09729555 9.83700265] [ 0.10291626 0.99425275 0.02949076 0.18294237] [ 0.09379859 -0.03921674 0.99481851 -1.61677507] [ 0. 0. 0. 1. ]] SLAMing on 120.24719347 meters Centerline goodness : 0.886224 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99041353 -0.09778265 -0.09756836 9.83954307] [ 0.10110997 0.99443035 0.02974986 0.1840561 ] [ 0.09411592 -0.0393298 0.99478408 -1.61977921] [ 0. 0. 0. 1. ]] SLAMing on 120.27719347 meters Centerline goodness : 0.887061 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.9904513 -0.09748242 -0.09748539 9.84074632] [ 0.10073568 0.99449006 0.02901448 0.1847009 ] [ 0.09411985 -0.03855769 0.99481393 -1.62179676] [ 0. 0. 0. 1. ]] SLAMing on 120.30719347 meters Centerline goodness : 0.885146 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99026617 -0.10028279 -0.09652083 9.84015947] [ 0.10315687 0.99434457 0.02524956 0.18495727] [ 0.09344287 -0.03496057 0.99501065 -1.62284564] [ 0. 0. 0. 1. ]] SLAMing on 120.33719347 meters Centerline goodness : 0.891264 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.99017277 -0.10041397 -0.09733919 9.84176344] [ 0.10345626 0.99427516 0.02671537 0.18185721] [ 0.09409934 -0.03652318 0.99489264 -1.62211095] [ 0. 0. 0. 1. ]] SLAMing on 120.36719347 meters Centerline goodness : 0.888475 Centerline is valid? [False, False] Translation: X:9.84, Y:0.18, Z:-1.62 [[ 0.98978493 -0.10423975 -0.09726186 9.84263012] [ 0.10704377 0.99396322 0.02405704 0.17911624] [ 0.09416701 -0.03422257 0.99496803 -1.62183867] [ 0. 0. 0. 1. ]] SLAMing on 120.39719347 meters Centerline goodness : 0.894936 Centerline is valid? [False, False] Translation: X:9.85, Y:0.17, Z:-1.62 [[ 0.98917272 -0.10882837 -0.09845669 9.84560893] [ 0.11173301 0.99343697 0.02446877 0.16943546] [ 0.09514762 -0.0352047 0.99484047 -1.61988152] [ 0. 0. 0. 1. ]] SLAMing on 120.42719347 meters Centerline goodness : 0.894960 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.62 [[ 0.98892036 -0.11026839 -0.09938517 9.84780197] [ 0.11332925 0.99322556 0.02568004 0.16418637] [ 0.0958802 -0.03665876 0.99471761 -1.61883664] [ 0. 0. 0. 1. ]] SLAMing on 120.45719346999999 meters Centerline goodness : 0.894408 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.62 [[ 0.98869236 -0.11108946 -0.10073008 9.85019368] [ 0.11442217 0.99303989 0.02791683 0.15892122] [ 0.09692772 -0.03912691 0.99452205 -1.61713193] [ 0. 0. 0. 1. ]] SLAMing on 120.48719347 meters Centerline goodness : 0.888926 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.62 [[ 0.98819102 -0.11549565 -0.10069388 9.85038299] [ 0.11857914 0.99262542 0.02517452 0.15616424] [ 0.09704376 -0.03681743 0.99459891 -1.6156609 ] [ 0. 0. 0. 1. ]] SLAMing on 120.51719347 meters Centerline goodness : 0.898612 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98739736 -0.12285801 -0.09976155 9.84874996] [ 0.12556882 0.99185536 0.02134028 0.14856325] [ 0.09632721 -0.03359828 0.9947825 -1.61212809] [ 0. 0. 0. 1. ]] SLAMing on 120.54719347 meters Centerline goodness : 0.896467 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98698106 -0.12643172 -0.09941534 9.84891236] [ 0.12891481 0.99147485 0.01893681 0.14523818] [ 0.0961736 -0.03150639 0.99486581 -1.61146394] [ 0. 0. 0. 1. ]] SLAMing on 120.57719347 meters Centerline goodness : 0.894644 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98652255 -0.13018982 -0.09911542 9.84941727] [ 0.13237208 0.9910751 0.01574077 0.14382556] [ 0.09618154 -0.02864874 0.99495144 -1.61137524] [ 0. 0. 0. 1. ]] SLAMing on 120.60719347 meters Centerline goodness : 0.894036 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98644395 -0.13040693 -0.09961106 9.85064285] [ 0.13266122 0.991027 0.01632412 0.14222955] [ 0.09658847 -0.02931735 0.99489254 -1.61135988] [ 0. 0. 0. 1. ]] SLAMing on 120.63719347 meters Centerline goodness : 0.895683 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98606086 -0.1327157 -0.10035197 9.85422821] [ 0.13479143 0.99077274 0.01416473 0.14345527] [ 0.09754611 -0.02749387 0.99485117 -1.61322131] [ 0. 0. 0. 1. ]] SLAMing on 120.66719347 meters Centerline goodness : 0.892310 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.98601892 -0.13281315 -0.10063476 9.85482931] [ 0.13487336 0.99076503 0.01392227 0.14444897] [ 0.09785634 -0.02730057 0.99482602 -1.61341064] [ 0. 0. 0. 1. ]] SLAMing on 120.69719347 meters Centerline goodness : 0.892459 Centerline is valid? [False, False] Translation: X:9.86, Y:0.15, Z:-1.61 [[ 0.98599295 -0.13272179 -0.10100905 9.85583581] [ 0.13478123 0.99077908 0.01381435 0.14506787] [ 0.09824419 -0.02723497 0.99478959 -1.61387237] [ 0. 0. 0. 1. ]] SLAMing on 120.72719347 meters Centerline goodness : 0.891350 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98598486 -0.13250117 -0.10137702 9.85683512] [ 0.13459558 0.99080064 0.01407585 0.14469696] [ 0.09857935 -0.02752348 0.9947485 -1.61421303] [ 0. 0. 0. 1. ]] SLAMing on 120.75719347 meters Centerline goodness : 0.895454 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98603908 -0.13188442 -0.10165349 9.85790853] [ 0.13403528 0.99086905 0.014597 0.14330871] [ 0.09880018 -0.02801837 0.99471277 -1.61475735] [ 0. 0. 0. 1. ]] SLAMing on 120.78719347 meters Centerline goodness : 0.895263 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98636878 -0.12942872 -0.10161115 9.85600884] [ 0.13181111 0.99112796 0.01706449 0.14287151] [ 0.09850102 -0.03022536 0.99467783 -1.61340479] [ 0. 0. 0. 1. ]] SLAMing on 120.81719347 meters Centerline goodness : 0.891322 Centerline is valid? [False, False] Translation: X:9.86, Y:0.14, Z:-1.61 [[ 0.98685148 -0.12521753 -0.10219948 9.85575621] [ 0.127978 0.99155697 0.02089019 0.14347537] [ 0.09872079 -0.0336948 0.99454455 -1.61296906] [ 0. 0. 0. 1. ]] SLAMing on 120.84719347 meters Centerline goodness : 0.894587 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98783214 -0.11651221 -0.10301731 9.85460727] [ 0.11994888 0.99239081 0.02779832 0.14726564] [ 0.09899459 -0.03981689 0.99429105 -1.61249291] [ 0. 0. 0. 1. ]] SLAMing on 120.87719347 meters Centerline goodness : 0.895445 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98833825 -0.11183017 -0.10335141 9.85439484] [ 0.11559037 0.99280934 0.0311205 0.14932213] [ 0.09912803 -0.04270401 0.99415794 -1.61295076] [ 0. 0. 0. 1. ]] SLAMing on 120.90719347 meters Centerline goodness : 0.895616 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98914315 -0.10459279 -0.10322872 9.85097375] [ 0.10714525 0.99405245 0.01948365 0.15336578] [ 0.10057691 -0.03033259 0.9944668 -1.61302386] [ 0. 0. 0. 1. ]] SLAMing on 120.93719347 meters Centerline goodness : 0.895616 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98914315 -0.10459279 -0.10322872 9.85097375] [ 0.10714525 0.99405245 0.01948365 0.15336578] [ 0.10057691 -0.03033259 0.9944668 -1.61302386] [ 0. 0. 0. 1. ]] SLAMing on 120.96719347 meters Centerline goodness : 0.890425 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.98964925 -0.09955994 -0.10335468 9.85135854] [ 0.1024676 0.99446571 0.02320206 0.15343822] [ 0.10047269 -0.03355241 0.99437391 -1.6143761 ] [ 0. 0. 0. 1. ]] SLAMing on 120.99719347 meters Centerline goodness : 0.890035 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.62 [[ 0.99101195 -0.08876357 -0.10008168 9.84782932] [ 0.09057662 0.99579511 0.01371068 0.15406748] [ 0.09844383 -0.02265251 0.99488475 -1.61588842] [ 0. 0. 0. 1. ]] SLAMing on 121.02719347 meters Centerline goodness : 0.891791 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.62 [[ 0.99120968 -0.08736702 -0.09934975 9.84637113] [ 0.08918545 0.9959166 0.01400322 0.15447786] [ 0.09772065 -0.02274068 0.99495404 -1.61614113] [ 0. 0. 0. 1. ]] SLAMing on 121.05719347 meters Centerline goodness : 0.888584 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.61 [[ 9.91830828e-01 -8.50602222e-02 -9.50598126e-02 9.84966350e+00] [ 8.58627526e-02 9.96297361e-01 4.37671860e-03 1.57558251e-01] [ 9.43355558e-02 -1.25030616e-02 9.95461941e-01 -1.61482877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08719347 meters Centerline goodness : 0.886100 Centerline is valid? [False, False] Translation: X:9.85, Y:0.16, Z:-1.61 [[ 9.92084602e-01 -8.11479153e-02 -9.58287960e-02 9.84985825e+00] [ 8.24316925e-02 9.96551360e-01 9.50807714e-03 1.55249163e-01] [ 9.47267564e-02 -1.73321468e-02 9.95352419e-01 -1.61338143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11719347 meters Centerline goodness : 0.885326 Centerline is valid? [False, False] Translation: X:9.85, Y:0.15, Z:-1.61 [[ 0.9920382 -0.08139632 -0.09609817 9.84967094] [ 0.08293594 0.99648105 0.0121307 0.14722688] [ 0.09477261 -0.02000411 0.99529794 -1.6110063 ] [ 0. 0. 0. 1. ]] SLAMing on 121.14719347 meters Centerline goodness : 0.884832 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 0.99176022 -0.08474914 -0.096069 9.8511144 ] [ 0.08613946 0.99622869 0.01041094 0.14177145] [ 0.09482437 -0.01860049 0.99532023 -1.61122068] [ 0. 0. 0. 1. ]] SLAMing on 121.17719347 meters Centerline goodness : 0.882898 Centerline is valid? [False, False] Translation: X:9.85, Y:0.14, Z:-1.61 [[ 9.91450055e-01 -8.81417315e-02 -9.62175801e-02 9.85326671e+00] [ 8.94236734e-02 9.95952241e-01 9.08514775e-03 1.35110871e-01] [ 9.50273339e-02 -1.76115997e-02 9.95318862e-01 -1.61169354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20719346999999 meters Centerline goodness : 0.883597 Centerline is valid? [False, False] Translation: X:9.86, Y:0.12, Z:-1.61 [[ 0.99070364 -0.09177563 -0.10041679 9.86088296] [ 0.09366174 0.99550249 0.0142223 0.12004316] [ 0.09865991 -0.0234953 0.9948438 -1.61254939] [ 0. 0. 0. 1. ]] SLAMing on 121.23719347 meters Centerline goodness : 0.880918 Centerline is valid? [False, False] Translation: X:9.86, Y:0.12, Z:-1.61 [[ 0.99042166 -0.09440808 -0.10075735 9.86342565] [ 0.0961646 0.99528429 0.01270997 0.11623464] [ 0.09908229 -0.02227752 0.99482984 -1.61340953] [ 0. 0. 0. 1. ]] SLAMing on 121.26719347 meters Centerline goodness : 0.876722 Centerline is valid? [False, False] Translation: X:9.87, Y:0.11, Z:-1.61 [[ 0.99040853 -0.09402572 -0.1012428 9.86502519] [ 0.0959503 0.9952834 0.01429994 0.11190492] [ 0.09942072 -0.02387706 0.99475897 -1.6135086 ] [ 0. 0. 0. 1. ]] SLAMing on 121.29719347 meters Centerline goodness : 0.876034 Centerline is valid? [False, False] Translation: X:9.87, Y:0.11, Z:-1.61 [[ 0.99044062 -0.09325411 -0.10164174 9.866242 ] [ 0.09536666 0.99531174 0.01611646 0.10725332] [ 0.0996623 -0.02565563 0.99469051 -1.61342207] [ 0. 0. 0. 1. ]] SLAMing on 121.32719347 meters Centerline goodness : 0.877000 Centerline is valid? [False, False] Translation: X:9.87, Y:0.10, Z:-1.61 [[ 0.99040315 -0.09264528 -0.10255953 9.87035348] [ 0.09490729 0.99533422 0.01738949 0.09893056] [ 0.10046996 -0.02695625 0.99457486 -1.61467232] [ 0. 0. 0. 1. ]] SLAMing on 121.35719347 meters Centerline goodness : 0.874718 Centerline is valid? [False, False] Translation: X:9.87, Y:0.10, Z:-1.61 [[ 0.99019944 -0.0950897 -0.10228887 9.8707382 ] [ 0.0971296 0.9951566 0.01513884 0.09670468] [ 0.1003539 -0.02492575 0.99463953 -1.61485725] [ 0. 0. 0. 1. ]] SLAMing on 121.38719347 meters Centerline goodness : 0.875648 Centerline is valid? [False, False] Translation: X:9.87, Y:0.09, Z:-1.61 [[ 0.9902262 -0.09405352 -0.10298544 9.87226092] [ 0.09630337 0.99520538 0.01708544 0.09330504] [ 0.10088472 -0.0268363 0.99453612 -1.61460307] [ 0. 0. 0. 1. ]] SLAMing on 121.41719347 meters Centerline goodness : 0.877593 Centerline is valid? [False, False] Translation: X:9.87, Y:0.09, Z:-1.61 [[ 0.990032 -0.09518507 -0.10380962 9.87447338] [ 0.09744765 0.99509657 0.01693442 0.08773105] [ 0.10168869 -0.02688162 0.99445301 -1.61400979] [ 0. 0. 0. 1. ]] SLAMing on 121.44719347 meters Centerline goodness : 0.877451 Centerline is valid? [False, False] Translation: X:9.88, Y:0.08, Z:-1.61 [[ 0.9899657 -0.09481845 -0.10477295 9.87601775] [ 0.09737458 0.99505586 0.01954551 0.08282528] [ 0.10240166 -0.02955161 0.99430408 -1.61248417] [ 0. 0. 0. 1. ]] SLAMing on 121.47719347 meters Centerline goodness : 0.876222 Centerline is valid? [False, False] Translation: X:9.88, Y:0.08, Z:-1.61 [[ 0.98959641 -0.09874739 -0.10463221 9.87671013] [ 0.10102899 0.99474294 0.01672203 0.07985411] [ 0.1024309 -0.02711895 0.99437039 -1.61228748] [ 0. 0. 0. 1. ]] SLAMing on 121.50719347 meters Centerline goodness : 0.876175 Centerline is valid? [False, False] Translation: X:9.88, Y:0.07, Z:-1.61 [[ 0.9894918 -0.09902895 -0.10535291 9.87870115] [ 0.10149493 0.99466781 0.01829558 0.07454874] [ 0.10297935 -0.02879612 0.99426658 -1.61196506] [ 0. 0. 0. 1. ]] SLAMing on 121.53719347 meters Centerline goodness : 0.873700 Centerline is valid? [False, False] Translation: X:9.89, Y:0.07, Z:-1.61 [[ 0.98923323 -0.10691607 -0.09993282 9.89041006] [ 0.10952712 0.99376192 0.02100149 0.06554332] [ 0.09706403 -0.03172073 0.99477252 -1.61319033] [ 0. 0. 0. 1. ]] SLAMing on 121.56719347 meters Centerline goodness : 0.877492 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.98879019 -0.1110336 -0.0998273 9.89108882] [ 0.113361 0.99339199 0.01793448 0.06188245] [ 0.09717631 -0.02904996 0.99484314 -1.61276514] [ 0. 0. 0. 1. ]] SLAMing on 121.59719347 meters Centerline goodness : 0.876796 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.98838056 -0.1148929 -0.09951626 9.89096274] [ 0.11693166 0.99302845 0.01488266 0.05926085] [ 0.09711256 -0.02634633 0.99492463 -1.61206236] [ 0. 0. 0. 1. ]] SLAMing on 121.62719347 meters Centerline goodness : 0.880056 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.98815623 -0.11724814 -0.0989956 9.88904481] [ 0.11910666 0.99279561 0.0130566 0.05704064] [ 0.09675154 -0.024693 0.99500221 -1.61028523] [ 0. 0. 0. 1. ]] SLAMing on 121.65719347 meters Centerline goodness : 0.884412 Centerline is valid? [False, False] Translation: X:9.89, Y:0.06, Z:-1.61 [[ 0.9877209 -0.12091306 -0.09893154 9.88904852] [ 0.12249133 0.99241905 0.01001528 0.05521302] [ 0.09697056 -0.02201055 0.99504384 -1.60916315] [ 0. 0. 0. 1. ]] SLAMing on 121.68719347 meters Centerline goodness : 0.885135 Centerline is valid? [False, False] Translation: X:9.90, Y:0.06, Z:-1.61 [[ 9.88268323e-01 -1.21638224e-01 -9.23572681e-02 9.89796761e+00] [ 1.22219595e-01 9.92502875e-01 6.43872702e-04 5.72733760e-02] [ 9.15865346e-02 -1.19241869e-02 9.95725726e-01 -1.61074313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71719347 meters Centerline goodness : 0.884349 Centerline is valid? [False, False] Translation: X:9.90, Y:0.06, Z:-1.61 [[ 9.88026942e-01 -1.23487714e-01 -9.24853883e-02 9.89877390e+00] [ 1.23877440e-01 9.92296335e-01 -1.53708909e-03 5.75637186e-02] [ 9.19627235e-02 -9.93816770e-03 9.95712855e-01 -1.61064750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74719347 meters Centerline goodness : 0.883303 Centerline is valid? [False, False] Translation: X:9.91, Y:0.06, Z:-1.61 [[ 9.88564306e-01 -1.21471637e-01 -8.93602467e-02 9.90722128e+00] [ 1.21108572e-01 9.92593863e-01 -9.49404269e-03 5.76635813e-02] [ 8.98516894e-02 -1.43682011e-03 9.95954120e-01 -1.60961753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77719347 meters Centerline goodness : 0.883154 Centerline is valid? [False, False] Translation: X:9.91, Y:0.06, Z:-1.61 [[ 9.88495205e-01 -1.21611411e-01 -8.99327172e-02 9.90919898e+00] [ 1.21197450e-01 9.92577338e-01 -1.00701006e-02 5.83015431e-02] [ 9.04898161e-02 -9.45369867e-04 9.95896932e-01 -1.61027914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80719347 meters Centerline goodness : 0.880761 Centerline is valid? [False, False] Translation: X:9.91, Y:0.06, Z:-1.61 [[ 9.88736176e-01 -1.19095508e-01 -9.06478542e-02 9.91198699e+00] [ 1.18888160e-01 9.92877772e-01 -7.70296856e-03 5.80448670e-02] [ 9.09196284e-02 -3.16075290e-03 9.95853218e-01 -1.61214640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83719347 meters Centerline goodness : 0.883499 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 9.89315273e-01 -1.17228089e-01 -8.66767875e-02 9.92171392e+00] [ 1.16294801e-01 9.93089738e-01 -1.57572606e-02 6.11413966e-02] [ 8.79250217e-02 5.50883875e-03 9.96111863e-01 -1.61345791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86719347 meters Centerline goodness : 0.884232 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 0.9902212 -0.11129387 -0.08411693 9.92189843] [ 0.10929577 0.99361452 -0.02801117 0.06345401] [ 0.08669727 0.01854362 0.9960621 -1.61392883] [ 0. 0. 0. 1. ]] SLAMing on 121.89719347 meters Centerline goodness : 0.884860 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 0.99030486 -0.11039076 -0.0843218 9.92253613] [ 0.10842742 0.99372301 -0.02753307 0.06343626] [ 0.08683191 0.01812334 0.99605811 -1.61428538] [ 0. 0. 0. 1. ]] SLAMing on 121.92719347 meters Centerline goodness : 0.882870 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 0.99078786 -0.10549793 -0.08490942 9.92304036] [ 0.10393618 0.99432669 -0.02262069 0.06122622] [ 0.08681414 0.01358715 0.99613187 -1.6144869 ] [ 0. 0. 0. 1. ]] SLAMing on 121.95719346999999 meters Centerline goodness : 0.879630 Centerline is valid? [False, False] Translation: X:9.92, Y:0.06, Z:-1.61 [[ 9.91314298e-01 -9.98803316e-02 -8.55563077e-02 9.92392868e+00] [ 9.87761881e-02 9.94963537e-01 -1.70535692e-02 5.79675676e-02] [ 8.68287227e-02 8.45452101e-03 9.96187379e-01 -1.61497645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98719347 meters Centerline goodness : 0.883041 Centerline is valid? [False, False] Translation: X:9.93, Y:0.05, Z:-1.62 [[ 9.91706275e-01 -9.52313243e-02 -8.63114021e-02 9.92509450e+00] [ 9.45536773e-02 9.95448459e-01 -1.19149942e-02 5.43222580e-02] [ 8.70532329e-02 3.65511406e-03 9.96196956e-01 -1.61532588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01719347 meters Centerline goodness : 0.875871 Centerline is valid? [False, False] Translation: X:9.93, Y:0.05, Z:-1.62 [[ 9.91761042e-01 -9.43398699e-02 -8.66603973e-02 9.92627890e+00] [ 9.37631147e-02 9.95536917e-01 -1.07109927e-02 5.15483082e-02] [ 8.72840984e-02 2.49719656e-03 9.96180330e-01 -1.61578287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04719347 meters Centerline goodness : 0.880629 Centerline is valid? [False, False] Translation: X:9.93, Y:0.05, Z:-1.62 [[ 9.91819013e-01 -9.34812439e-02 -8.69269914e-02 9.92708071e+00] [ 9.30238710e-02 9.95620384e-01 -9.30652269e-03 4.79766027e-02] [ 8.74162698e-02 1.14410092e-03 9.96171214e-01 -1.61599512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07719347 meters Centerline goodness : 0.884704 Centerline is valid? [False, False] Translation: X:9.93, Y:0.04, Z:-1.62 [[ 9.91623206e-01 -9.53492338e-02 -8.71317498e-02 9.92862327e+00] [ 9.48539249e-02 9.95442798e-01 -9.81679940e-03 4.02801257e-02] [ 8.76706971e-02 1.46977763e-03 9.96148427e-01 -1.61622066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10719347 meters Centerline goodness : 0.875764 Centerline is valid? [False, False] Translation: X:9.93, Y:0.03, Z:-1.62 [[ 9.91615154e-01 -9.52501439e-02 -8.73315370e-02 9.92935826e+00] [ 9.48818542e-02 9.95453369e-01 -8.36802210e-03 3.47274626e-02] [ 8.77315281e-02 1.16793608e-05 9.96144156e-01 -1.61629381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13719347 meters Centerline goodness : 0.873179 Centerline is valid? [False, False] Translation: X:9.93, Y:0.03, Z:-1.62 [[ 9.91286967e-01 -9.85811733e-02 -8.73607586e-02 9.93038390e+00] [ 9.80260572e-02 9.95127051e-01 -1.06322262e-02 3.04669944e-02] [ 8.79831915e-02 1.97595656e-03 9.96120000e-01 -1.61649464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16719347 meters Centerline goodness : 0.880178 Centerline is valid? [False, False] Translation: X:9.93, Y:0.03, Z:-1.62 [[ 9.90931780e-01 -1.02121405e-01 -8.73236876e-02 9.93144572e+00] [ 1.01372317e-01 9.94763852e-01 -1.29819604e-02 2.58663849e-02] [ 8.81921839e-02 4.01203265e-03 9.96095398e-01 -1.61670075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19719347 meters Centerline goodness : 0.877868 Centerline is valid? [False, False] Translation: X:9.93, Y:0.02, Z:-1.62 [[ 9.90164971e-01 -1.09434157e-01 -8.71636185e-02 9.93352808e+00] [ 1.08314347e-01 9.93962843e-01 -1.74890998e-02 1.63722288e-02] [ 8.85513030e-02 7.87602360e-03 9.96040479e-01 -1.61704336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22719347 meters Centerline goodness : 0.880217 Centerline is valid? [False, False] Translation: X:9.94, Y:0.01, Z:-1.62 [[ 9.89890390e-01 -1.14893895e-01 -8.31649513e-02 9.94309219e+00] [ 1.14313800e-01 9.93375562e-01 -1.17195484e-02 1.14827106e-02] [ 8.39605348e-02 2.09416677e-03 9.96466880e-01 -1.61806574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25719347 meters Centerline goodness : 0.875861 Centerline is valid? [False, False] Translation: X:9.94, Y:0.00, Z:-1.62 [[ 9.88896798e-01 -1.23582531e-01 -8.25256385e-02 9.94357976e+00] [ 1.22570509e-01 9.92310087e-01 -1.72383867e-02 2.63445357e-03] [ 8.40213870e-02 6.93177593e-03 9.96439841e-01 -1.61694702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28719347 meters Centerline goodness : 0.879992 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.00, Z:-1.62 [[ 9.88384947e-01 -1.27693886e-01 -8.23982264e-02 9.94456094e+00] [ 1.26440621e-01 9.91766968e-01 -2.02743642e-02 -2.98667029e-04] [ 8.43087515e-02 9.62039350e-03 9.96393237e-01 -1.61702300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31719347 meters Centerline goodness : 0.886477 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.00, Z:-1.62 [[ 9.87854365e-01 -1.31005242e-01 -8.35546507e-02 9.94897919e+00] [ 1.29564950e-01 9.91316607e-01 -2.24568082e-02 -2.38263534e-03] [ 8.57710724e-02 1.13583019e-02 9.96250125e-01 -1.61844276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34719347 meters Centerline goodness : 0.886348 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.00, Z:-1.62 [[ 9.87398176e-01 -1.34264598e-01 -8.37726726e-02 9.95196497e+00] [ 1.32613837e-01 9.90852612e-01 -2.49934358e-02 -4.10156634e-03] [ 8.63621050e-02 1.35690574e-02 9.96171405e-01 -1.62017274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37719347 meters Centerline goodness : 0.884829 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.01, Z:-1.62 [[ 9.86723254e-01 -1.40729618e-01 -8.10703091e-02 9.96303536e+00] [ 1.39548355e-01 9.90011530e-01 -2.00854918e-02 -7.31864263e-03] [ 8.30871644e-02 8.50559355e-03 9.96505985e-01 -1.62138536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40719347 meters Centerline goodness : 0.883681 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.01, Z:-1.62 [[ 9.86842730e-01 -1.42933908e-01 -7.55733076e-02 9.97123211e+00] [ 1.42408880e-01 9.89731253e-01 -1.23190101e-02 -8.49787749e-03] [ 7.65580686e-02 1.39461547e-03 9.97064149e-01 -1.62271817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43719347 meters Centerline goodness : 0.878930 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.01, Z:-1.62 [[ 9.86820730e-01 -1.43081703e-01 -7.55809023e-02 9.97061674e+00] [ 1.42550734e-01 9.89709797e-01 -1.24018599e-02 -8.49291069e-03] [ 7.65776388e-02 1.46429937e-03 9.97062546e-01 -1.62180639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46719347 meters Centerline goodness : 0.878088 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.01, Z:-1.63 [[ 9.87869812e-01 -1.42016531e-01 -6.28055629e-02 9.97377383e+00] [ 1.41542228e-01 9.89859962e-01 -1.19604568e-02 -7.64270495e-03] [ 6.38672947e-02 2.92573494e-03 9.97954112e-01 -1.62588750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49719347 meters Centerline goodness : 0.881747 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.00, Z:-1.63 [[ 9.88919609e-01 -1.36451913e-01 -5.84712136e-02 9.98275032e+00] [ 1.35714349e-01 9.90611873e-01 -1.64235372e-02 -2.87134705e-03] [ 6.01633015e-02 8.30617530e-03 9.98153988e-01 -1.62715533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52719347 meters Centerline goodness : 0.879459 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.00, Z:-1.63 [[ 9.89429655e-01 -1.32451915e-01 -5.90376817e-02 9.98328590e+00] [ 1.31920779e-01 9.91177327e-01 -1.28223979e-02 -1.36380547e-03] [ 6.02151628e-02 4.89856373e-03 9.98173401e-01 -1.62778677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55719347 meters Centerline goodness : 0.880407 Centerline is valid? [False, False] Translation: X:9.99, Y:0.00, Z:-1.63 [[ 9.89736957e-01 -1.29767476e-01 -5.98427752e-02 9.98552928e+00] [ 1.29358889e-01 9.91540449e-01 -1.06684301e-02 1.73089766e-03] [ 6.07209475e-02 2.81774461e-03 9.98150804e-01 -1.62961811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58719347 meters Centerline goodness : 0.876013 Centerline is valid? [False, False] Translation: X:10.00, Y:0.01, Z:-1.63 [[ 9.90752951e-01 -1.23494884e-01 -5.61925633e-02 9.99767122e+00] [ 1.22895097e-01 9.92320626e-01 -1.40203779e-02 8.37070491e-03] [ 5.74924845e-02 6.98494029e-03 9.98321504e-01 -1.63367879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61719347 meters Centerline goodness : 0.876116 Centerline is valid? [False, False] Translation: X:10.00, Y:0.01, Z:-1.64 [[ 9.90957465e-01 -1.21607766e-01 -5.66996783e-02 9.99975566e+00] [ 1.21108850e-01 9.92564666e-01 -1.21667788e-02 9.56726458e-03] [ 5.77576720e-02 5.18992745e-03 9.98317142e-01 -1.63539023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64719347 meters Centerline goodness : 0.872950 Centerline is valid? [False, False] Translation: X:10.01, Y:0.01, Z:-1.64 [[ 0.99146436 -0.12051084 -0.04975493 10.00919521] [ 0.11967091 0.99262132 -0.01953944 0.01301082] [ 0.05174251 0.01341844 0.99857031 -1.63823035] [ 0. 0. 0. 1. ]] SLAMing on 122.67719347 meters Centerline goodness : 0.874415 Centerline is valid? [False, False] Translation: X:10.02, Y:0.02, Z:-1.64 [[ 0.99181717 -0.12038124 -0.04250954 10.01919308] [ 0.11929106 0.99248332 -0.02732224 0.01630597] [ 0.04547909 0.02202766 0.9987224 -1.64117632] [ 0. 0. 0. 1. ]] SLAMing on 122.70719346999999 meters Centerline goodness : 0.874464 Centerline is valid? [False, False] Translation: X:10.03, Y:0.02, Z:-1.64 [[ 0.99145844 -0.12473156 -0.03810785 10.02791552] [ 0.12400258 0.99206096 -0.02093805 0.01740022] [ 0.04041695 0.01603373 0.99905425 -1.64250198] [ 0. 0. 0. 1. ]] SLAMing on 122.73719347 meters Centerline goodness : 0.872906 Centerline is valid? [False, False] Translation: X:10.03, Y:0.02, Z:-1.64 [[ 9.91335866e-01 -1.26564575e-01 -3.51369908e-02 1.00349838e+01] [ 1.26226662e-01 9.91932625e-01 -1.16832444e-02 1.76420544e-02] [ 3.63322124e-02 7.14679417e-03 9.99314212e-01 -1.64204099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76719347 meters Centerline goodness : 0.871288 Centerline is valid? [False, False] Translation: X:10.03, Y:0.02, Z:-1.64 [[ 9.91256346e-01 -1.27218962e-01 -3.50170157e-02 1.00348997e+01] [ 1.26859453e-01 9.91844278e-01 -1.23129007e-02 1.94586172e-02] [ 3.62978611e-02 7.76300153e-03 9.99310863e-01 -1.64217307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79719347 meters Centerline goodness : 0.869078 Centerline is valid? [False, False] Translation: X:10.04, Y:0.02, Z:-1.64 [[ 9.91193092e-01 -1.29054903e-01 -2.96831077e-02 1.00437711e+01] [ 1.28993640e-01 9.91637443e-01 -3.97765356e-03 2.10369745e-02] [ 2.99482167e-02 1.13690638e-04 9.99551445e-01 -1.64468898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82719347 meters Centerline goodness : 0.866191 Centerline is valid? [False, False] Translation: X:10.05, Y:0.03, Z:-1.65 [[ 9.91182342e-01 -1.29073446e-01 -2.99601402e-02 1.00456947e+01] [ 1.28993942e-01 9.91634807e-01 -4.57957521e-03 2.78827272e-02] [ 3.03006194e-02 6.74517506e-04 9.99540603e-01 -1.64687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85719347 meters Centerline goodness : 0.866191 Centerline is valid? [False, False] Translation: X:10.05, Y:0.03, Z:-1.65 [[ 9.91182342e-01 -1.29073446e-01 -2.99601402e-02 1.00456947e+01] [ 1.28993942e-01 9.91634807e-01 -4.57957521e-03 2.78827272e-02] [ 3.03006194e-02 6.74517506e-04 9.99540603e-01 -1.64687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88719347 meters Centerline goodness : 0.865437 Centerline is valid? [False, False] Translation: X:10.05, Y:0.03, Z:-1.65 [[ 9.91591207e-01 -1.25779675e-01 -3.04360380e-02 1.00463344e+01] [ 1.25789737e-01 9.92055648e-01 -1.59152712e-03 2.98731158e-02] [ 3.03944251e-02 -2.25039691e-03 9.99535449e-01 -1.64770126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91719347 meters Centerline goodness : 0.864914 Centerline is valid? [False, False] Translation: X:10.06, Y:0.04, Z:-1.65 [[ 9.92040452e-01 -1.21074397e-01 -3.45938068e-02 1.00563256e+01] [ 1.20913552e-01 9.92640348e-01 -6.71210805e-03 3.85420241e-02] [ 3.51518729e-02 2.47582266e-03 9.99378915e-01 -1.64671370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94719347 meters Centerline goodness : 0.861480 Centerline is valid? [False, False] Translation: X:10.06, Y:0.04, Z:-1.65 [[ 9.92438353e-01 -1.17696421e-01 -3.48377404e-02 1.00561261e+01] [ 1.17624922e-01 9.93049622e-01 -4.10194647e-03 4.20050533e-02] [ 3.50783893e-02 -2.68574854e-05 9.99384564e-01 -1.64701367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97719347 meters Centerline goodness : 0.860003 Centerline is valid? [False, False] Translation: X:10.07, Y:0.05, Z:-1.65 [[ 9.93145617e-01 -1.12638107e-01 -3.12160249e-02 1.00660638e+01] [ 1.12406135e-01 9.93620727e-01 -9.09460623e-03 4.79057859e-02] [ 3.20412886e-02 5.52339562e-03 9.99471284e-01 -1.64897036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00719347 meters Centerline goodness : 0.861887 Centerline is valid? [False, False] Translation: X:10.07, Y:0.05, Z:-1.65 [[ 9.93444407e-01 -1.09832221e-01 -3.17032136e-02 1.00670663e+01] [ 1.09656843e-01 9.93943255e-01 -7.22382849e-03 5.31192193e-02] [ 3.23046045e-02 3.69999770e-03 9.99471221e-01 -1.65007013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03719347 meters Centerline goodness : 0.859306 Centerline is valid? [False, False] Translation: X:10.07, Y:0.06, Z:-1.65 [[ 9.93690149e-01 -1.07390588e-01 -3.23596902e-02 1.00687708e+01] [ 1.07264820e-01 9.94214698e-01 -5.60282353e-03 5.82496063e-02] [ 3.27741701e-02 2.09641419e-03 9.99460584e-01 -1.65161432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06719347 meters Centerline goodness : 0.860119 Centerline is valid? [False, False] Translation: X:10.08, Y:0.07, Z:-1.65 [[ 9.94448163e-01 -1.01062519e-01 -2.93124378e-02 1.00803989e+01] [ 1.00839475e-01 9.94862055e-01 -8.99396174e-03 6.78941745e-02] [ 3.00707845e-02 5.98817790e-03 9.99529834e-01 -1.65460790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09719347 meters Centerline goodness : 0.860065 Centerline is valid? [False, False] Translation: X:10.08, Y:0.07, Z:-1.65 [[ 9.94775526e-01 -9.77196611e-02 -2.95384758e-02 1.00800889e+01] [ 9.75808361e-02 9.95208854e-01 -6.10879253e-03 7.08524293e-02] [ 2.99939018e-02 3.19448814e-03 9.99544977e-01 -1.65464234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12719347 meters Centerline goodness : 0.858346 Centerline is valid? [False, False] Translation: X:10.08, Y:0.07, Z:-1.65 [[ 9.95069332e-01 -9.45535610e-02 -2.99440754e-02 1.00803695e+01] [ 9.44990511e-02 9.95519700e-01 -3.23352798e-03 7.37285234e-02] [ 3.01156586e-02 3.87897816e-04 9.99546345e-01 -1.65499714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15719347 meters Centerline goodness : 0.861246 Centerline is valid? [False, False] Translation: X:10.08, Y:0.08, Z:-1.65 [[ 9.95283437e-01 -9.23101301e-02 -2.98281799e-02 1.00792632e+01] [ 9.22951968e-02 9.95729914e-01 -1.88001030e-03 8.02592315e-02] [ 2.98743550e-02 -8.81854616e-04 9.99553273e-01 -1.65487779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18719347 meters Centerline goodness : 0.862628 Centerline is valid? [False, False] Translation: X:10.08, Y:0.08, Z:-1.66 [[ 9.95563527e-01 -8.90646283e-02 -3.03439485e-02 1.00797269e+01] [ 8.91426495e-02 9.96018115e-01 1.22552708e-03 8.19057782e-02] [ 3.01139713e-02 -3.92503002e-03 9.99538765e-01 -1.65506595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21719347 meters Centerline goodness : 0.862416 Centerline is valid? [False, False] Translation: X:10.08, Y:0.08, Z:-1.66 [[ 9.95794398e-01 -8.62606221e-02 -3.08645789e-02 1.00805353e+01] [ 8.64200590e-02 9.96251283e-01 3.86705857e-03 8.36628814e-02] [ 3.04153015e-02 -6.51811400e-03 9.99516095e-01 -1.65553344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24719347 meters Centerline goodness : 0.863805 Centerline is valid? [False, False] Translation: X:10.08, Y:0.09, Z:-1.65 [[ 9.95981391e-01 -8.41403542e-02 -3.06833794e-02 1.00785514e+01] [ 8.43526466e-02 9.96419724e-01 5.68899903e-03 8.57023071e-02] [ 3.00948500e-02 -8.25436142e-03 9.99512964e-01 -1.65415450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27719347 meters Centerline goodness : 0.863602 Centerline is valid? [False, False] Translation: X:10.08, Y:0.09, Z:-1.65 [[ 9.96287642e-01 -8.04670551e-02 -3.05938960e-02 1.00778153e+01] [ 8.07465145e-02 9.96702488e-01 8.00945927e-03 9.12886860e-02] [ 2.98485147e-02 -1.04500758e-02 9.99499806e-01 -1.65430297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30719347 meters Centerline goodness : 0.870416 Centerline is valid? [False, False] Translation: X:10.08, Y:0.09, Z:-1.65 [[ 0.99681466 -0.07333543 -0.03134419 10.07809269] [ 0.07385128 0.9971468 0.0156283 0.09221887] [ 0.03010865 -0.01789333 0.99938646 -1.65422516] [ 0. 0. 0. 1. ]] SLAMing on 123.33719347 meters Centerline goodness : 0.865123 Centerline is valid? [False, False] Translation: X:10.08, Y:0.10, Z:-1.65 [[ 0.99705841 -0.06981902 -0.03162025 10.07807143] [ 0.07042179 0.99734819 0.01836711 0.09553569] [ 0.03025402 -0.02053983 0.99933118 -1.65448387] [ 0. 0. 0. 1. ]] SLAMing on 123.36719347 meters Centerline goodness : 0.867503 Centerline is valid? [False, False] Translation: X:10.08, Y:0.10, Z:-1.65 [[ 0.9972718 -0.06652765 -0.03198474 10.0783397 ] [ 0.06718703 0.99753989 0.02000158 0.10096751] [ 0.03057539 -0.02209597 0.9992882 -1.65499087] [ 0. 0. 0. 1. ]] SLAMing on 123.39719347 meters Centerline goodness : 0.865431 Centerline is valid? [False, False] Translation: X:10.08, Y:0.10, Z:-1.66 [[ 0.99724561 -0.06683915 -0.03215149 10.07916545] [ 0.06746267 0.99754626 0.01871485 0.10371747] [ 0.03082171 -0.02083232 0.99930778 -1.65601661] [ 0. 0. 0. 1. ]] SLAMing on 123.42719347 meters Centerline goodness : 0.862150 Centerline is valid? [False, False] Translation: X:10.08, Y:0.11, Z:-1.66 [[ 0.99723414 -0.06700306 -0.03216616 10.07973179] [ 0.06758287 0.99756386 0.01728871 0.1072744 ] [ 0.03092941 -0.01941477 0.999333 -1.65722446] [ 0. 0. 0. 1. ]] SLAMing on 123.45719346999999 meters Centerline goodness : 0.862099 Centerline is valid? [False, False] Translation: X:10.08, Y:0.11, Z:-1.66 [[ 0.99744142 -0.06354868 -0.03274414 10.08082403] [ 0.06422126 0.99773697 0.01991425 0.11036154] [ 0.03140452 -0.02196617 0.99926535 -1.65821907] [ 0. 0. 0. 1. ]] SLAMing on 123.48719347 meters Centerline goodness : 0.860440 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99768146 -0.05976758 -0.03255057 10.07944222] [ 0.06046321 0.99795322 0.02082234 0.11854103] [ 0.03123945 -0.02274217 0.99925317 -1.65823763] [ 0. 0. 0. 1. ]] SLAMing on 123.51719347 meters Centerline goodness : 0.862857 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99770162 -0.05933775 -0.03271856 10.07951688] [ 0.06001577 0.99799413 0.02014492 0.12100526] [ 0.03145758 -0.02206225 0.99926157 -1.6582871 ] [ 0. 0. 0. 1. ]] SLAMing on 123.54719347 meters Centerline goodness : 0.861616 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99770676 -0.05925572 -0.03271048 10.07964252] [ 0.05990727 0.99801714 0.01931064 0.12272677] [ 0.03150135 -0.02122595 0.9992783 -1.65872457] [ 0. 0. 0. 1. ]] SLAMing on 123.57719347 meters Centerline goodness : 0.862282 Centerline is valid? [False, False] Translation: X:10.08, Y:0.12, Z:-1.66 [[ 0.99776147 -0.05795876 -0.03335926 10.08170992] [ 0.05863696 0.99808452 0.01972314 0.12399398] [ 0.03215223 -0.02163508 0.9992488 -1.66016672] [ 0. 0. 0. 1. ]] SLAMing on 123.60719347 meters Centerline goodness : 0.861717 Centerline is valid? [False, False] Translation: X:10.08, Y:0.13, Z:-1.66 [[ 0.99793884 -0.05460377 -0.03371194 10.08335148] [ 0.05535075 0.99823252 0.02163635 0.12752421] [ 0.03247093 -0.02345774 0.99919736 -1.6625043 ] [ 0. 0. 0. 1. ]] SLAMing on 123.63719347 meters Centerline goodness : 0.861587 Centerline is valid? [False, False] Translation: X:10.08, Y:0.13, Z:-1.66 [[ 0.99793235 -0.05446305 -0.03412931 10.08463208] [ 0.05520347 0.99825129 0.02114092 0.12876784] [ 0.03291823 -0.02298126 0.9991938 -1.66351572] [ 0. 0. 0. 1. ]] SLAMing on 123.66719347 meters Centerline goodness : 0.858237 Centerline is valid? [False, False] Translation: X:10.09, Y:0.13, Z:-1.66 [[ 0.99795308 -0.05386784 -0.03446609 10.08599187] [ 0.05463368 0.99827113 0.02167761 0.12755394] [ 0.03323877 -0.02351625 0.99917074 -1.66455155] [ 0. 0. 0. 1. ]] SLAMing on 123.69719347 meters Centerline goodness : 0.860203 Centerline is valid? [False, False] Translation: X:10.09, Y:0.12, Z:-1.66 [[ 0.99804033 -0.05244077 -0.03413897 10.08598229] [ 0.05325822 0.99830441 0.02349206 0.12329675] [ 0.03284914 -0.0252642 0.99914096 -1.66489429] [ 0. 0. 0. 1. ]] SLAMing on 123.72719347 meters Centerline goodness : 0.864441 Centerline is valid? [False, False] Translation: X:10.09, Y:0.12, Z:-1.66 [[ 0.99805317 -0.05202841 -0.03439341 10.08647398] [ 0.05288823 0.99829786 0.0245807 0.12107651] [ 0.03305597 -0.02635185 0.99910604 -1.66451527] [ 0. 0. 0. 1. ]] SLAMing on 123.75719347 meters Centerline goodness : 0.860269 Centerline is valid? [False, False] Translation: X:10.09, Y:0.12, Z:-1.67 [[ 0.99794979 -0.05365372 -0.03489247 10.08865968] [ 0.05448207 0.9982443 0.0232385 0.11838474] [ 0.03358438 -0.02509187 0.99912086 -1.66534738] [ 0. 0. 0. 1. ]] SLAMing on 123.78719347 meters Centerline goodness : 0.861760 Centerline is valid? [False, False] Translation: X:10.09, Y:0.11, Z:-1.67 [[ 0.99779825 -0.05639887 -0.03489718 10.08926144] [ 0.0571743 0.99812974 0.02163593 0.11405233] [ 0.03361167 -0.02358351 0.99915668 -1.665065 ] [ 0. 0. 0. 1. ]] SLAMing on 123.81719347 meters Centerline goodness : 0.861288 Centerline is valid? [False, False] Translation: X:10.09, Y:0.10, Z:-1.66 [[ 0.99747822 -0.06172474 -0.03503234 10.09083189] [ 0.06241858 0.99786787 0.0190691 0.10243074] [ 0.03378061 -0.02120768 0.99920424 -1.6641354 ] [ 0. 0. 0. 1. ]] SLAMing on 123.84719347 meters Centerline goodness : 0.864383 Centerline is valid? [False, False] Translation: X:10.09, Y:0.09, Z:-1.66 [[ 0.9974747 -0.06138999 -0.03571406 10.09265655] [ 0.06220712 0.99781553 0.02223606 0.09476899] [ 0.03427097 -0.02440158 0.99911464 -1.66357921] [ 0. 0. 0. 1. ]] SLAMing on 123.87719347 meters Centerline goodness : 0.864193 Centerline is valid? [False, False] Translation: X:10.09, Y:0.09, Z:-1.66 [[ 0.9975054 -0.06072433 -0.03599357 10.09324127] [ 0.0616626 0.9977698 0.02555672 0.08714941] [ 0.03436138 -0.02771243 0.99902518 -1.66234936] [ 0. 0. 0. 1. ]] SLAMing on 123.90719347 meters Centerline goodness : 0.865130 Centerline is valid? [False, False] Translation: X:10.09, Y:0.08, Z:-1.66 [[ 0.99732858 -0.06350708 -0.03609085 10.09396435] [ 0.06439961 0.99763243 0.02412947 0.08185408] [ 0.03447301 -0.02638925 0.99905717 -1.66177151] [ 0. 0. 0. 1. ]] SLAMing on 123.93719347 meters Centerline goodness : 0.865338 Centerline is valid? [False, False] Translation: X:10.09, Y:0.07, Z:-1.66 [[ 0.99700698 -0.06859633 -0.03565993 10.09382216] [ 0.06939531 0.99735382 0.02167137 0.07031517] [ 0.03407899 -0.02408114 0.99912898 -1.66010663] [ 0. 0. 0. 1. ]] SLAMing on 123.96719347 meters Centerline goodness : 0.864914 Centerline is valid? [False, False] Translation: X:10.09, Y:0.07, Z:-1.66 [[ 0.99675221 -0.07217635 -0.03571563 10.09474642] [ 0.0728935 0.9971549 0.0192003 0.06552693] [ 0.03422821 -0.02174137 0.99917753 -1.66008931] [ 0. 0. 0. 1. ]] SLAMing on 123.99719347 meters Centerline goodness : 0.867252 Centerline is valid? [False, False] Translation: X:10.10, Y:0.06, Z:-1.66 [[ 0.99649633 -0.07568439 -0.03559411 10.09541135] [ 0.07632071 0.9969406 0.01686966 0.0605544 ] [ 0.03420844 -0.01952713 0.99922394 -1.66016814] [ 0. 0. 0. 1. ]] SLAMing on 124.02719347 meters Centerline goodness : 0.866105 Centerline is valid? [False, False] Translation: X:10.10, Y:0.06, Z:-1.66 [[ 0.99620664 -0.07936385 -0.03568894 10.0969161 ] [ 0.07991582 0.99669885 0.01431282 0.05574741] [ 0.0344352 -0.01711063 0.99926045 -1.66076225] [ 0. 0. 0. 1. ]] SLAMing on 124.05719347 meters Centerline goodness : 0.864325 Centerline is valid? [False, False] Translation: X:10.10, Y:0.05, Z:-1.66 [[ 0.99590338 -0.08312596 -0.03558829 10.09780881] [ 0.08358231 0.99643416 0.01153099 0.05164607] [ 0.03450286 -0.0144583 0.99930001 -1.6611271 ] [ 0. 0. 0. 1. ]] SLAMing on 124.08719347 meters Centerline goodness : 0.864240 Centerline is valid? [False, False] Translation: X:10.10, Y:0.05, Z:-1.66 [[ 9.95464654e-01 -8.79963710e-02 -3.61491539e-02 1.01030388e+01] [ 8.83319921e-02 9.96060616e-01 7.79150911e-03 4.56944728e-02] [ 3.53211240e-02 -1.09492987e-02 9.99316032e-01 -1.66471908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11719347 meters Centerline goodness : 0.864333 Centerline is valid? [False, False] Translation: X:10.11, Y:0.05, Z:-1.67 [[ 9.95324447e-01 -8.92628615e-02 -3.68969813e-02 1.01066680e+01] [ 8.95748750e-02 9.95956271e-01 6.88826735e-03 4.53557933e-02] [ 3.61329134e-02 -1.01611034e-02 9.99295334e-01 -1.66711376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14719347 meters Centerline goodness : 0.864996 Centerline is valid? [False, False] Translation: X:10.11, Y:0.04, Z:-1.67 [[ 9.95306415e-01 -8.92944886e-02 -3.73046060e-02 1.01081824e+01] [ 8.96202906e-02 9.95950332e-01 7.15125293e-03 4.47578413e-02] [ 3.65149673e-02 -1.04609376e-02 9.99278353e-01 -1.66802621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17719347 meters Centerline goodness : 0.860557 Centerline is valid? [False, False] Translation: X:10.11, Y:0.04, Z:-1.67 [[ 9.95303000e-01 -8.87216431e-02 -3.87351120e-02 1.01112807e+01] [ 8.90822973e-02 9.95994637e-01 7.68287204e-03 4.18320199e-02] [ 3.78983268e-02 -1.10973984e-02 9.99219978e-01 -1.66821680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20719346999999 meters Centerline goodness : 0.863018 Centerline is valid? [False, False] Translation: X:10.11, Y:0.04, Z:-1.67 [[ 9.95349199e-01 -8.80123625e-02 -3.91637153e-02 1.01119922e+01] [ 8.84029597e-02 9.96049773e-01 8.35266439e-03 4.02012978e-02] [ 3.82738720e-02 -1.17760061e-02 9.99197897e-01 -1.66783658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23719347 meters Centerline goodness : 0.861711 Centerline is valid? [False, False] Translation: X:10.12, Y:0.04, Z:-1.67 [[ 9.95798831e-01 -8.39901685e-02 -3.64738233e-02 1.01203867e+01] [ 8.41119537e-02 9.96454658e-01 1.81473962e-03 4.00491689e-02] [ 3.61920909e-02 -4.87500013e-03 9.99332961e-01 -1.66710087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26719347 meters Centerline goodness : 0.865730 Centerline is valid? [False, False] Translation: X:10.13, Y:0.04, Z:-1.67 [[ 9.96184541e-01 -8.04487206e-02 -3.38284503e-02 1.01294481e+01] [ 8.03098986e-02 9.96755072e-01 -5.44484850e-03 4.12769059e-02] [ 3.41567105e-02 2.70731449e-03 9.99412822e-01 -1.66689453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29719347 meters Centerline goodness : 0.861886 Centerline is valid? [False, False] Translation: X:10.13, Y:0.04, Z:-1.67 [[ 9.96407103e-01 -7.72737260e-02 -3.46649227e-02 1.01319594e+01] [ 7.72403528e-02 9.97009842e-01 -2.30288039e-03 3.88419449e-02] [ 3.47392213e-02 -3.82924485e-04 9.99396338e-01 -1.66814417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32719347 meters Centerline goodness : 0.858830 Centerline is valid? [False, False] Translation: X:10.13, Y:0.04, Z:-1.67 [[ 9.96396182e-01 -7.72986301e-02 -3.49223407e-02 1.01328434e+01] [ 7.72769088e-02 9.97007716e-01 -1.97334278e-03 3.69828738e-02] [ 3.49703799e-02 -7.32459329e-04 9.99388081e-01 -1.66837133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35719347 meters Centerline goodness : 0.859308 Centerline is valid? [False, False] Translation: X:10.14, Y:0.04, Z:-1.67 [[ 9.96577665e-01 -7.67743710e-02 -3.06374648e-02 1.01403919e+01] [ 7.64413464e-02 9.97003080e-01 -1.18986949e-02 3.62932140e-02] [ 3.14591616e-02 9.51600455e-03 9.99459737e-01 -1.66820505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38719347 meters Centerline goodness : 0.858575 Centerline is valid? [False, False] Translation: X:10.14, Y:0.03, Z:-1.67 [[ 9.96602209e-01 -7.63216573e-02 -3.09684121e-02 1.01409482e+01] [ 7.60296012e-02 9.97050244e-01 -1.05029127e-02 3.19207307e-02] [ 3.16786625e-02 8.11270993e-03 9.99465180e-01 -1.66789550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41719347 meters Centerline goodness : 0.858796 Centerline is valid? [False, False] Translation: X:10.16, Y:0.02, Z:-1.67 [[ 9.96618655e-01 -7.75986652e-02 -2.70130149e-02 1.01566776e+01] [ 7.74766558e-02 9.96978797e-01 -5.53596991e-03 2.20348336e-02] [ 2.73609869e-02 3.42437283e-03 9.99619753e-01 -1.66930248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44719347 meters Centerline goodness : 0.857784 Centerline is valid? [False, False] Translation: X:10.16, Y:0.02, Z:-1.67 [[ 9.96427017e-01 -7.97996996e-02 -2.76624016e-02 1.01594952e+01] [ 7.96292540e-02 9.96798466e-01 -7.21116571e-03 1.91946533e-02] [ 2.81492883e-02 4.98266393e-03 9.99591312e-01 -1.67049911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47719347 meters Centerline goodness : 0.855307 Centerline is valid? [False, False] Translation: X:10.16, Y:0.01, Z:-1.67 [[ 9.96354478e-01 -8.03769770e-02 -2.85883690e-02 1.01630985e+01] [ 8.02165990e-02 9.96754837e-01 -6.71507153e-03 1.34663073e-02] [ 2.90353322e-02 4.39732986e-03 9.99568713e-01 -1.67211591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50719347 meters Centerline goodness : 0.855384 Centerline is valid? [False, False] Translation: X:10.17, Y:0.01, Z:-1.67 [[ 9.96418878e-01 -7.93229038e-02 -2.92796199e-02 1.01655153e+01] [ 7.92037322e-02 9.96844837e-01 -5.20953203e-03 1.05282032e-02] [ 2.96004732e-02 2.87182089e-03 9.99557684e-01 -1.67334109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53719347 meters Centerline goodness : 0.853117 Centerline is valid? [False, False] Translation: X:10.17, Y:0.01, Z:-1.67 [[ 9.96500050e-01 -7.79698486e-02 -3.01388864e-02 1.01685538e+01] [ 7.79018675e-02 9.96955148e-01 -3.42504878e-03 7.22998073e-03] [ 3.03141685e-02 1.06518575e-03 9.99539852e-01 -1.67495615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56719347 meters Centerline goodness : 0.856060 Centerline is valid? [False, False] Translation: X:10.17, Y:0.00, Z:-1.68 [[ 9.96560211e-01 -7.69441189e-02 -3.07790161e-02 1.01708085e+01] [ 7.69191139e-02 9.97035336e-01 -1.99736666e-03 3.66988094e-03] [ 3.08414523e-02 -3.76998507e-04 9.99524218e-01 -1.67602304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59719347 meters Centerline goodness : 0.853044 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.00, Z:-1.68 [[ 9.96660552e-01 -7.55177966e-02 -3.10613232e-02 1.01719851e+01] [ 7.55600074e-02 9.97141239e-01 1.85740713e-04 -3.16737688e-03] [ 3.09584996e-02 -2.53211425e-03 9.99517463e-01 -1.67636328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62719347 meters Centerline goodness : 0.853847 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.01, Z:-1.68 [[ 9.96674550e-01 -7.52371916e-02 -3.12922713e-02 1.01723483e+01] [ 7.53109590e-02 9.97159395e-01 1.18379752e-03 -6.30469094e-03] [ 3.11143167e-02 -3.53651182e-03 9.99509576e-01 -1.67598652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65719347 meters Centerline goodness : 0.855690 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.01, Z:-1.68 [[ 9.96421512e-01 -7.84815005e-02 -3.13819240e-02 1.01729193e+01] [ 7.84595522e-02 9.96915426e-01 -1.93209480e-03 -7.57982787e-03] [ 3.14367579e-02 -5.37030892e-04 9.99505599e-01 -1.67558143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68719347 meters Centerline goodness : 0.854573 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.02, Z:-1.68 [[ 9.96149666e-01 -8.17770592e-02 -3.15967786e-02 1.01742882e+01] [ 8.17097430e-02 9.96650307e-01 -3.41800549e-03 -1.52406162e-02] [ 3.17704536e-02 8.23080365e-04 9.99494853e-01 -1.67535734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71719347 meters Centerline goodness : 0.851564 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.02, Z:-1.68 [[ 9.95858891e-01 -8.52244719e-02 -3.16521510e-02 1.01752191e+01] [ 8.50794757e-02 9.96356686e-01 -5.90228711e-03 -1.94962087e-02] [ 3.20398516e-02 3.18489669e-03 9.99481518e-01 -1.67533675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74719347 meters Centerline goodness : 0.851564 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.02, Z:-1.68 [[ 9.95858891e-01 -8.52244719e-02 -3.16521510e-02 1.01752191e+01] [ 8.50794757e-02 9.96356686e-01 -5.90228711e-03 -1.94962087e-02] [ 3.20398516e-02 3.18489669e-03 9.99481518e-01 -1.67533675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77719347 meters Centerline goodness : 0.851346 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.02, Z:-1.68 [[ 9.95536988e-01 -8.88827555e-02 -3.17169079e-02 1.01764189e+01] [ 8.86505151e-02 9.96025166e-01 -8.65767261e-03 -2.30623783e-02] [ 3.23603562e-02 5.80731309e-03 9.99459395e-01 -1.67564958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80719347 meters Centerline goodness : 0.851096 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.03, Z:-1.68 [[ 9.95224763e-01 -9.22227238e-02 -3.19787530e-02 1.01786763e+01] [ 9.19117557e-02 9.95705680e-01 -1.10646819e-02 -2.65674899e-02] [ 3.28618411e-02 8.07262207e-03 9.99427302e-01 -1.67678398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83719347 meters Centerline goodness : 0.849433 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.03, Z:-1.68 [[ 0.99454531 -0.09931679 -0.03187148 10.18114883] [ 0.09883774 0.99497049 -0.01627361 -0.03319029] [ 0.03332743 0.01303473 0.99935948 -1.6778937 ] [ 0. 0. 0. 1. ]] SLAMing on 124.86719347 meters Centerline goodness : 0.851477 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.04, Z:-1.68 [[ 0.9944882 -0.09974011 -0.03232833 10.18256208] [ 0.09929369 0.99494304 -0.01513608 -0.03793199] [ 0.03367452 0.01184265 0.99936269 -1.67802449] [ 0. 0. 0. 1. ]] SLAMing on 124.89719347 meters Centerline goodness : 0.851805 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.04, Z:-1.68 [[ 0.99407468 -0.10374136 -0.03245395 10.1840269 ] [ 0.10318209 0.99449114 -0.01846181 -0.03985729] [ 0.03419042 0.01500376 0.99930271 -1.67844504] [ 0. 0. 0. 1. ]] SLAMing on 124.92719347 meters Centerline goodness : 0.849808 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.04, Z:-1.68 [[ 0.99329046 -0.11100561 -0.03243159 10.18677704] [ 0.11023583 0.99360008 -0.02463617 -0.04322607] [ 0.03495878 0.02089575 0.99917028 -1.67962006] [ 0. 0. 0. 1. ]] SLAMing on 124.95719346999999 meters Centerline goodness : 0.850326 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.05, Z:-1.68 [[ 0.99309055 -0.11397677 -0.02793647 10.19802346] [ 0.11351466 0.99338026 -0.01760926 -0.04535292] [ 0.02975859 0.01431639 0.99945458 -1.6822998 ] [ 0. 0. 0. 1. ]] SLAMing on 124.98719347 meters Centerline goodness : 0.852198 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.05, Z:-1.68 [[ 0.99307212 -0.11406815 -0.02821757 10.19823762] [ 0.11361708 0.9933773 -0.01710824 -0.04718056] [ 0.0299822 0.01378372 0.99945539 -1.68163293] [ 0. 0. 0. 1. ]] SLAMing on 125.01719347 meters Centerline goodness : 0.853644 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.05, Z:-1.68 [[ 0.99306737 -0.1140288 -0.02854157 10.19850359] [ 0.11358193 0.99338621 -0.016822 -0.04772268] [ 0.03027099 0.01346357 0.99945105 -1.68110285] [ 0. 0. 0. 1. ]] SLAMing on 125.04719347 meters Centerline goodness : 0.850937 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.04, Z:-1.68 [[ 0.9933799 -0.11106887 -0.02932709 10.19995797] [ 0.11068288 0.99375032 -0.01447731 -0.04410954] [ 0.03075178 0.01113546 0.99946502 -1.68200691] [ 0. 0. 0. 1. ]] SLAMing on 125.07719347 meters Centerline goodness : 0.852475 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.04, Z:-1.68 [[ 9.93748422e-01 -1.07515854e-01 -3.00734831e-02 1.02006484e+01] [ 1.07216800e-01 9.94170414e-01 -1.13906313e-02 -4.19961251e-02] [ 3.11228405e-02 8.09503923e-03 9.99482786e-01 -1.68199581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10719347 meters Centerline goodness : 0.853426 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.03, Z:-1.68 [[ 0.99498575 -0.09592113 -0.02832844 10.21985201] [ 0.09539141 0.99524889 -0.01949666 -0.03462962] [ 0.03006399 0.01669661 0.99940852 -1.68174423] [ 0. 0. 0. 1. ]] SLAMing on 125.13719347 meters Centerline goodness : 0.855595 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.03, Z:-1.68 [[ 0.99562159 -0.08859794 -0.02980034 10.24507467] [ 0.08796986 0.99588527 -0.02176794 -0.03035087] [ 0.03160632 0.0190511 0.99931882 -1.67951107] [ 0. 0. 0. 1. ]] SLAMing on 125.16719347 meters Centerline goodness : 0.854271 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.03, Z:-1.68 [[ 0.99625567 -0.08217038 -0.02688238 10.25478571] [ 0.08147002 0.99633169 -0.02618758 -0.0265988 ] [ 0.02893561 0.02389942 0.99929553 -1.6807859 ] [ 0. 0. 0. 1. ]] SLAMing on 125.19719347 meters Centerline goodness : 0.851195 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.02, Z:-1.68 [[ 0.99667688 -0.0785818 -0.02144989 10.26757346] [ 0.07791283 0.99649594 -0.03042086 -0.02146806] [ 0.02376526 0.02864855 0.999307 -1.68431216] [ 0. 0. 0. 1. ]] SLAMing on 125.22719347 meters Centerline goodness : 0.853623 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.01, Z:-1.69 [[ 0.99688327 -0.07593469 -0.02139337 10.28877846] [ 0.07524603 0.99667235 -0.03134096 -0.0147135 ] [ 0.02370205 0.02963351 0.99927977 -1.68615655] [ 0. 0. 0. 1. ]] SLAMing on 125.25719347 meters Centerline goodness : 0.851651 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.01, Z:-1.69 [[ 0.9970582 -0.07424906 -0.01902666 10.30752976] [ 0.07363509 0.99679835 -0.03115968 -0.01230167] [ 0.02127932 0.02966699 0.99933331 -1.6865389 ] [ 0. 0. 0. 1. ]] SLAMing on 125.28719347 meters Centerline goodness : 0.852056 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.01, Z:-1.69 [[ 9.97186492e-01 -7.29181534e-02 -1.73793897e-02 1.03271099e+01] [ 7.23432861e-02 9.96876423e-01 -3.16835244e-02 -9.68140071e-03] [ 1.96354079e-02 3.03371004e-02 9.99346842e-01 -1.68725762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31719347 meters Centerline goodness : 0.851308 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.01, Z:-1.69 [[ 9.97195185e-01 -7.27411867e-02 -1.76205247e-02 1.03282830e+01] [ 7.21403977e-02 9.96860910e-01 -3.26203818e-02 -7.29120595e-03] [ 1.99380576e-02 3.12577361e-02 9.99312478e-01 -1.68789792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34719347 meters Centerline goodness : 0.851546 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.00, Z:-1.68 [[ 9.97449367e-01 -6.96928806e-02 -1.54163039e-02 1.03498374e+01] [ 6.87440705e-02 9.96100880e-01 -5.52927651e-02 -6.93113263e-04] [ 1.92097060e-02 5.40919540e-02 9.98351165e-01 -1.68397198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37719347 meters Centerline goodness : 0.852855 Centerline is valid? [False, False] Translation: X:10.37, Y:0.00, Z:-1.68 [[ 9.97622228e-01 -6.77198268e-02 -1.28029732e-02 1.03681562e+01] [ 6.69256038e-02 9.96258801e-01 -5.46750820e-02 9.36911096e-04] [ 1.64576618e-02 5.36882304e-02 9.98422115e-01 -1.68403807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40719347 meters Centerline goodness : 0.853191 Centerline is valid? [False, False] Translation: X:10.38, Y:0.00, Z:-1.68 [[ 9.97822632e-01 -6.53810316e-02 -8.67847222e-03 1.03845907e+01] [ 6.48368548e-02 9.96506037e-01 -5.26488420e-02 2.90598358e-03] [ 1.20903856e-02 5.19715213e-02 9.98575377e-01 -1.68329316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43719347 meters Centerline goodness : 0.856052 Centerline is valid? [False, False] Translation: X:10.39, Y:0.00, Z:-1.69 [[ 9.97751554e-01 -6.68029411e-02 -5.40396378e-03 1.03947913e+01] [ 6.65107573e-02 9.96861261e-01 -4.29411917e-02 1.74250916e-03] [ 8.25560004e-03 4.24852190e-02 9.99062987e-01 -1.68512694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46719347 meters Centerline goodness : 0.856449 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.00, Z:-1.69 [[ 9.97559667e-01 -6.97805211e-02 -2.32173062e-03 1.04055847e+01] [ 6.96579368e-02 9.96964446e-01 -3.47802323e-02 -2.60094610e-04] [ 4.74166562e-03 3.45336300e-02 9.99392288e-01 -1.68730491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49719347 meters Centerline goodness : 0.855751 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.00, Z:-1.69 [[ 9.97227808e-01 -7.44075599e-02 4.62895882e-04 1.04172783e+01] [ 7.43904442e-02 9.96820913e-01 -2.85329493e-02 -2.44348708e-03] [ 1.66164284e-03 2.84882855e-02 9.99592745e-01 -1.68983283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52719347 meters Centerline goodness : 0.858169 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.00, Z:-1.69 [[ 9.96552157e-01 -8.29649043e-02 7.89258613e-04 1.04184614e+01] [ 8.29390074e-02 9.95896641e-01 -3.62077642e-02 -4.92424682e-03] [ 2.21795369e-03 3.61483858e-02 9.99343972e-01 -1.69036266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55719347 meters Centerline goodness : 0.859262 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.01, Z:-1.69 [[ 9.96464380e-01 -8.40160671e-02 1.99556849e-04 1.04203504e+01] [ 8.39685849e-02 9.95815561e-01 -3.60644546e-02 -7.63400477e-03] [ 2.83127182e-03 3.59537009e-02 9.99349446e-01 -1.69110406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58719347 meters Centerline goodness : 0.858143 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.01, Z:-1.69 [[ 9.96407457e-01 -8.46885043e-02 -1.93510714e-04 1.04218416e+01] [ 8.46267247e-02 9.95762804e-01 -3.59827144e-02 -9.18874802e-03] [ 3.24001304e-03 3.58370688e-02 9.99352394e-01 -1.69193159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61719347 meters Centerline goodness : 0.858806 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.01, Z:-1.69 [[ 9.96354396e-01 -8.53084276e-02 -6.24729461e-04 1.04235077e+01] [ 8.52303719e-02 9.95707109e-01 -3.60989948e-02 -9.81304658e-03] [ 3.70159605e-03 3.59141462e-02 9.99348024e-01 -1.69294828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64719347 meters Centerline goodness : 0.859576 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.01, Z:-1.69 [[ 9.95946053e-01 -8.98020503e-02 -5.20099275e-03 1.04354397e+01] [ 8.95672860e-02 9.95367071e-01 -3.49584752e-02 -6.52560270e-03] [ 8.31623967e-03 3.43509166e-02 9.99375232e-01 -1.69325865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67719347 meters Centerline goodness : 0.861942 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.01, Z:-1.69 [[ 9.95909545e-01 -9.01882504e-02 -5.50066306e-03 1.04363637e+01] [ 8.99394785e-02 9.95319244e-01 -3.53623040e-02 -5.55239307e-03] [ 8.66418013e-03 3.47229293e-02 9.99359420e-01 -1.69361725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70719346999999 meters Centerline goodness : 0.861297 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.00, Z:-1.69 [[ 9.95890924e-01 -9.03587327e-02 -6.04708861e-03 1.04377835e+01] [ 9.00878883e-02 9.95294184e-01 -3.56883818e-02 -4.19850268e-03] [ 9.24338907e-03 3.49969660e-02 9.99344671e-01 -1.69407597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73719347 meters Centerline goodness : 0.862915 Centerline is valid? [False, False] Translation: X:10.45, Y:0.00, Z:-1.69 [[ 9.96005358e-01 -8.92615579e-02 -2.38782457e-03 1.04544772e+01] [ 8.91138941e-02 9.95341809e-01 -3.67885332e-02 1.68514626e-03] [ 5.66050342e-03 3.64287878e-02 9.99320220e-01 -1.69370236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76719347 meters Centerline goodness : 0.860151 Centerline is valid? [False, False] Translation: X:10.46, Y:0.00, Z:-1.69 [[ 9.96006693e-01 -8.92689830e-02 1.30986019e-03 1.04626442e+01] [ 8.92725765e-02 9.95662066e-01 -2.62194066e-02 2.30146756e-03] [ 1.03640166e-03 2.62316390e-02 9.99655354e-01 -1.69417811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79719347 meters Centerline goodness : 0.859549 Centerline is valid? [False, False] Translation: X:10.46, Y:0.00, Z:-1.69 [[ 9.96197830e-01 -8.71168902e-02 7.28336325e-04 1.04638387e+01] [ 8.71090665e-02 9.95906695e-01 -2.41218826e-02 4.43308056e-03] [ 1.37606838e-03 2.40936118e-02 9.99708760e-01 -1.69468833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82719347 meters Centerline goodness : 0.861933 Centerline is valid? [False, False] Translation: X:10.46, Y:0.01, Z:-1.69 [[ 9.96454724e-01 -8.41296063e-02 4.38773958e-04 1.04638399e+01] [ 8.41197880e-02 9.96227143e-01 -2.13387182e-02 6.75259388e-03] [ 1.35809944e-03 2.12999762e-02 9.99772207e-01 -1.69453783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85719347 meters Centerline goodness : 0.861001 Centerline is valid? [False, False] Translation: X:10.48, Y:0.02, Z:-1.70 [[ 9.96889347e-01 -7.85615363e-02 6.30189852e-03 1.04763693e+01] [ 7.86878031e-02 9.96628801e-01 -2.32220478e-02 1.50651685e-02] [-4.45629382e-03 2.36456946e-02 9.99710469e-01 -1.69829275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88719347 meters Centerline goodness : 0.859300 Centerline is valid? [False, False] Translation: X:10.48, Y:0.02, Z:-1.70 [[ 9.97097170e-01 -7.59244944e-02 5.71878787e-03 1.04779593e+01] [ 7.60276826e-02 9.96889929e-01 -2.07427406e-02 1.67775900e-02] [-4.12611994e-03 2.11173142e-02 9.99768490e-01 -1.69935027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91719347 meters Centerline goodness : 0.859483 Centerline is valid? [False, False] Translation: X:10.48, Y:0.02, Z:-1.70 [[ 9.97269297e-01 -7.36738195e-02 5.11053358e-03 1.04795456e+01] [ 7.37572476e-02 9.97100682e-01 -1.87109035e-02 1.86443046e-02] [-3.71721280e-03 1.90367484e-02 9.99811875e-01 -1.70026271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94719347 meters Centerline goodness : 0.862034 Centerline is valid? [False, False] Translation: X:10.51, Y:0.03, Z:-1.70 [[ 9.97768216e-01 -6.66011033e-02 4.78329963e-03 1.05061938e+01] [ 6.66927693e-02 9.97517218e-01 -2.26158143e-02 2.63394353e-02] [-3.26518556e-03 2.28843522e-02 9.99732787e-01 -1.69867156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97719347 meters Centerline goodness : 0.865011 Centerline is valid? [False, False] Translation: X:10.53, Y:0.03, Z:-1.70 [[ 9.97884907e-01 -6.48333774e-02 4.72714808e-03 1.05275840e+01] [ 6.49276018e-02 9.97609152e-01 -2.36724756e-02 3.17615978e-02] [-3.18107965e-03 2.39293285e-02 9.99708592e-01 -1.70037783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00719347 meters Centerline goodness : 0.858785 Centerline is valid? [False, False] Translation: X:10.53, Y:0.03, Z:-1.70 [[ 9.98003278e-01 -6.30300786e-02 4.08232355e-03 1.05304891e+01] [ 6.31061589e-02 9.97754499e-01 -2.24404083e-02 3.49006025e-02] [-2.65873599e-03 2.26532208e-02 9.99739848e-01 -1.70255820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03719347 meters Centerline goodness : 0.859443 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.71 [[ 9.98091250e-01 -6.16960291e-02 2.73060414e-03 1.05535203e+01] [ 6.17439785e-02 9.97801865e-01 -2.40649057e-02 4.16016972e-02] [-1.23989277e-03 2.41875702e-02 9.99706669e-01 -1.70541371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06719347 meters Centerline goodness : 0.864516 Centerline is valid? [False, False] Translation: X:10.57, Y:0.05, Z:-1.71 [[ 9.98018170e-01 -6.27868296e-02 4.18884721e-03 1.05734317e+01] [ 6.28763826e-02 9.97666621e-01 -2.66059172e-02 4.55317454e-02] [-2.50857185e-03 2.68165684e-02 9.99637224e-01 -1.70632946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09719347 meters Centerline goodness : 0.859859 Centerline is valid? [False, False] Translation: X:10.57, Y:0.05, Z:-1.71 [[ 9.97982752e-01 -6.33464752e-02 4.20133780e-03 1.05731724e+01] [ 6.34379569e-02 9.97611580e-01 -2.73269310e-02 4.66382445e-02] [-2.46023848e-03 2.75383301e-02 9.99617721e-01 -1.70579987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12719347 meters Centerline goodness : 0.864178 Centerline is valid? [False, False] Translation: X:10.59, Y:0.05, Z:-1.71 [[ 9.97879575e-01 -6.49000026e-02 4.93396964e-03 1.05931756e+01] [ 6.50126065e-02 9.97496936e-01 -2.78068964e-02 4.81660867e-02] [-3.11695195e-03 2.80687041e-02 9.99601137e-01 -1.70639141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15719347 meters Centerline goodness : 0.862614 Centerline is valid? [False, False] Translation: X:10.59, Y:0.05, Z:-1.71 [[ 9.97818115e-01 -6.58553249e-02 4.69949559e-03 1.05939202e+01] [ 6.59634070e-02 9.97410248e-01 -2.86640246e-02 4.97452378e-02] [-2.79964641e-03 2.89114778e-02 9.99578055e-01 -1.70672505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18719347 meters Centerline goodness : 0.859946 Centerline is valid? [False, False] Translation: X:10.59, Y:0.06, Z:-1.71 [[ 9.97666422e-01 -6.80802017e-02 5.17653869e-03 1.05928195e+01] [ 6.82107748e-02 9.97165496e-01 -3.17531692e-02 5.65229789e-02] [-3.00010361e-03 3.20321665e-02 9.99482336e-01 -1.70588917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21719347 meters Centerline goodness : 0.861253 Centerline is valid? [False, False] Translation: X:10.60, Y:0.06, Z:-1.70 [[ 9.97534106e-01 -7.01800710e-02 6.81434949e-04 1.06007762e+01] [ 7.01695364e-02 9.97097510e-01 -2.95430333e-02 5.87813605e-02] [ 1.39387508e-03 2.95179993e-02 9.99563277e-01 -1.70440233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24719347 meters Centerline goodness : 0.859948 Centerline is valid? [False, False] Translation: X:10.60, Y:0.06, Z:-1.70 [[ 9.97729809e-01 -6.73434286e-02 3.00051932e-04 1.06011421e+01] [ 6.73279598e-02 9.97383296e-01 -2.63345283e-02 5.92827573e-02] [ 1.47419064e-03 2.62949458e-02 9.99653141e-01 -1.70459792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27719347 meters Centerline goodness : 0.860181 Centerline is valid? [False, False] Translation: X:10.60, Y:0.06, Z:-1.71 [[ 9.97943927e-01 -6.40927782e-02 -1.83153888e-04 1.06018829e+01] [ 6.40715709e-02 9.97679536e-01 -2.30299412e-02 6.03797051e-02] [ 1.65878180e-03 2.29708550e-02 9.99734759e-01 -1.70500160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30719347 meters Centerline goodness : 0.863785 Centerline is valid? [False, False] Translation: X:10.62, Y:0.07, Z:-1.71 [[ 9.97968704e-01 -6.36937210e-02 -1.25497116e-03 1.06244928e+01] [ 6.36385566e-02 9.97624208e-01 -2.63831929e-02 7.09258154e-02] [ 2.93243334e-03 2.62497363e-02 9.99651115e-01 -1.70731799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33719347 meters Centerline goodness : 0.864597 Centerline is valid? [False, False] Translation: X:10.63, Y:0.07, Z:-1.71 [[ 9.98174684e-01 -6.03672785e-02 -1.75855886e-03 1.06254626e+01] [ 6.03087523e-02 9.97897916e-01 -2.37192607e-02 7.48052516e-02] [ 3.18672944e-03 2.35699091e-02 9.99717112e-01 -1.70788500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36719347 meters Centerline goodness : 0.865529 Centerline is valid? [False, False] Translation: X:10.63, Y:0.08, Z:-1.71 [[ 9.98666792e-01 -5.15423117e-02 -2.83342641e-03 1.06275295e+01] [ 5.14909429e-02 9.98546583e-01 -1.59186948e-02 8.27951732e-02] [ 3.64979459e-03 1.57515761e-02 9.99869275e-01 -1.70934780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39719347 meters Centerline goodness : 0.868752 Centerline is valid? [False, False] Translation: X:10.63, Y:0.08, Z:-1.71 [[ 9.99017838e-01 -4.41760997e-02 -3.43963442e-03 1.06280912e+01] [ 4.41442240e-02 9.98985978e-01 -8.84887191e-03 8.48375044e-02] [ 3.82705521e-03 8.68834090e-03 9.99954932e-01 -1.70949656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42719347 meters Centerline goodness : 0.869988 Centerline is valid? [False, False] Translation: X:10.63, Y:0.09, Z:-1.71 [[ 9.99290905e-01 -3.74205684e-02 -4.16999604e-03 1.06290374e+01] [ 3.74104329e-02 9.99296901e-01 -2.48265940e-03 8.78272647e-02] [ 4.25996664e-03 2.32489760e-03 9.99988224e-01 -1.70967802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45719346999999 meters Centerline goodness : 0.871568 Centerline is valid? [False, False] Translation: X:10.63, Y:0.09, Z:-1.71 [[ 9.99510294e-01 -3.10007309e-02 -4.25745495e-03 1.06276304e+01] [ 3.10152787e-02 9.99513146e-01 3.39459684e-03 9.20604281e-02] [ 4.15014721e-03 -3.52498064e-03 9.99985175e-01 -1.70822378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48719347 meters Centerline goodness : 0.875606 Centerline is valid? [False, False] Translation: X:10.62, Y:0.10, Z:-1.70 [[ 9.99725782e-01 -2.31260742e-02 -3.68054186e-03 1.06235512e+01] [ 2.31589549e-02 9.99689859e-01 9.15693446e-03 1.02292810e-01] [ 3.46763643e-03 -9.23966097e-03 9.99951301e-01 -1.70483239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51719347 meters Centerline goodness : 0.877621 Centerline is valid? [False, False] Translation: X:10.62, Y:0.11, Z:-1.70 [[ 9.99803540e-01 -1.93704927e-02 -4.20293717e-03 1.06240888e+01] [ 1.94199210e-02 9.99738715e-01 1.20568877e-02 1.05748254e-01] [ 3.96829114e-03 -1.21361397e-02 9.99918480e-01 -1.70462694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54719347 meters Centerline goodness : 0.879594 Centerline is valid? [False, False] Translation: X:10.62, Y:0.11, Z:-1.70 [[ 9.99870969e-01 -1.49908970e-02 -5.77220446e-03 1.06205678e+01] [ 1.49777235e-02 9.99885139e-01 -2.31874444e-03 1.13534158e-01] [ 5.80630152e-03 2.23199077e-03 9.99980652e-01 -1.70363099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57719347 meters Centerline goodness : 0.881230 Centerline is valid? [False, False] Translation: X:10.62, Y:0.11, Z:-1.70 [[ 9.99942190e-01 -8.40065791e-03 -6.71166420e-03 1.06221263e+01] [ 8.43718463e-03 9.99949649e-01 5.43262372e-03 1.13310943e-01] [ 6.66568865e-03 -5.48893721e-03 9.99962719e-01 -1.70331098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60719347 meters Centerline goodness : 0.877097 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99964419e-01 -3.92581208e-03 -7.46653612e-03 1.06253320e+01] [ 3.99479049e-03 9.99949276e-01 9.24597492e-03 1.16318821e-01] [ 7.42985942e-03 -9.27547319e-03 9.99929379e-01 -1.70577683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63719347 meters Centerline goodness : 0.875150 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99961764e-01 -3.02043756e-03 -8.20657235e-03 1.06283757e+01] [ 3.09996379e-03 9.99948196e-01 9.69517644e-03 1.17943448e-01] [ 8.17686354e-03 -9.72024581e-03 9.99919325e-01 -1.70780703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66719347 meters Centerline goodness : 0.875150 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99962682e-01 -2.98295320e-03 -8.10777004e-03 1.06282575e+01] [ 3.05971125e-03 9.99950465e-01 9.47136172e-03 1.18514976e-01] [ 8.07911579e-03 -9.49581570e-03 9.99922276e-01 -1.70781140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69719347 meters Centerline goodness : 0.883403 Centerline is valid? [False, False] Translation: X:10.63, Y:0.12, Z:-1.71 [[ 9.99961183e-01 -2.91442934e-03 -8.31495650e-03 1.06288070e+01] [ 2.99164626e-03 9.99952379e-01 9.28923494e-03 1.19382756e-01] [ 8.28748771e-03 -9.31374977e-03 9.99922283e-01 -1.70803233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72719347 meters Centerline goodness : 0.879654 Centerline is valid? [False, False] Translation: X:10.64, Y:0.12, Z:-1.71 [[ 9.99982373e-01 -2.02601519e-03 -5.58115433e-03 1.06394859e+01] [ 2.14282578e-03 9.99777103e-01 2.10036139e-02 1.18395776e-01] [ 5.53735667e-03 -2.10152031e-02 9.99763822e-01 -1.71026588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75719347 meters Centerline goodness : 0.883472 Centerline is valid? [False, False] Translation: X:10.64, Y:0.12, Z:-1.71 [[ 9.99979923e-01 -1.62331902e-03 -6.12519247e-03 1.06408235e+01] [ 1.75099218e-03 9.99780111e-01 2.08964802e-02 1.19189799e-01] [ 6.08992396e-03 -2.09067858e-02 9.99762881e-01 -1.71063387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78719347 meters Centerline goodness : 0.879250 Centerline is valid? [False, False] Translation: X:10.65, Y:0.12, Z:-1.71 [[ 9.99986904e-01 -1.44954540e-03 -4.90829103e-03 1.06504134e+01] [ 1.60902381e-03 9.99465710e-01 3.26451339e-02 1.17018221e-01] [ 4.85834797e-03 -3.26526039e-02 9.99454953e-01 -1.71074048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81719347 meters Centerline goodness : 0.881746 Centerline is valid? [False, False] Translation: X:10.66, Y:0.11, Z:-1.71 [[ 9.99996967e-01 -2.42846274e-03 -4.09812742e-04 1.06616200e+01] [ 2.44360774e-03 9.99104260e-01 4.22457854e-02 1.13345221e-01] [ 3.06853340e-04 -4.22466587e-02 9.99107164e-01 -1.71355508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84719347 meters Centerline goodness : 0.884841 Centerline is valid? [False, False] Translation: X:10.66, Y:0.11, Z:-1.71 [[ 9.99983727e-01 -5.64812474e-03 -8.02151809e-04 1.06624131e+01] [ 5.67486601e-03 9.99239541e-01 3.85763486e-02 1.13583543e-01] [ 5.83657777e-04 -3.85802730e-02 9.99255334e-01 -1.71343633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87719347 meters Centerline goodness : 0.884207 Centerline is valid? [False, False] Translation: X:10.66, Y:0.11, Z:-1.71 [[ 9.99983228e-01 -5.74446310e-03 -7.38345388e-04 1.06623821e+01] [ 5.76899646e-03 9.99214394e-01 3.92086003e-02 1.12511214e-01] [ 5.12532981e-04 -3.92122022e-02 9.99230774e-01 -1.71273275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90719347 meters Centerline goodness : 0.886778 Centerline is valid? [False, False] Translation: X:10.67, Y:0.11, Z:-1.71 [[ 9.99915530e-01 -1.27851294e-02 -2.33952904e-03 1.06727220e+01] [ 1.29016896e-02 9.98145468e-01 5.94909315e-02 1.06094979e-01] [ 1.57459105e-03 -5.95160902e-02 9.98226104e-01 -1.71052504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93719347 meters Centerline goodness : 0.883852 Centerline is valid? [False, False] Translation: X:10.67, Y:0.11, Z:-1.71 [[ 9.99806372e-01 -1.95700395e-02 -2.05726444e-03 1.06723142e+01] [ 1.96508468e-02 9.98439341e-01 5.22754941e-02 1.06792323e-01] [ 1.03102026e-03 -5.23057991e-02 9.98630583e-01 -1.71034292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96719347 meters Centerline goodness : 0.886873 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99615767e-01 -2.74091318e-02 -4.13000064e-03 1.06782780e+01] [ 2.75666555e-02 9.98617820e-01 4.47496330e-02 1.03616583e-01] [ 2.89774364e-03 -4.48462891e-02 9.98989696e-01 -1.71228070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99719347 meters Centerline goodness : 0.889923 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99468281e-01 -3.23515277e-02 -4.06610644e-03 1.06793217e+01] [ 3.24873792e-02 9.98686973e-01 3.96093496e-02 1.03974319e-01] [ 2.77934456e-03 -3.97203857e-02 9.99206969e-01 -1.71342955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02719347 meters Centerline goodness : 0.888739 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99330831e-01 -3.63496917e-02 -4.07307469e-03 1.06799172e+01] [ 3.64715425e-02 9.98704433e-01 3.54863719e-02 1.04015419e-01] [ 2.77787907e-03 -3.56111768e-02 9.99361860e-01 -1.71379068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05719347 meters Centerline goodness : 0.891266 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99186003e-01 -4.01398702e-02 -4.01521188e-03 1.06802285e+01] [ 4.02464942e-02 9.98694943e-01 3.14424908e-02 1.04265768e-01] [ 2.74787430e-03 -3.15784949e-02 9.99497498e-01 -1.71393072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08719347 meters Centerline goodness : 0.891832 Centerline is valid? [False, False] Translation: X:10.68, Y:0.10, Z:-1.71 [[ 9.99040878e-01 -4.35745383e-02 -4.31086750e-03 1.06806020e+01] [ 4.36775027e-02 9.98661762e-01 2.76940737e-02 1.04855866e-01] [ 3.09834206e-03 -2.78557997e-02 9.99607150e-01 -1.71318086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11719347 meters Centerline goodness : 0.895255 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99034034e-01 -4.36857283e-02 -4.74924722e-03 1.06811848e+01] [ 4.38000745e-02 9.98662573e-01 2.74703318e-02 1.06107157e-01] [ 3.54283400e-03 -2.76518138e-02 9.99611337e-01 -1.71283222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14719347 meters Centerline goodness : 0.891939 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99040514e-01 -4.35140100e-02 -4.95810107e-03 1.06811332e+01] [ 4.36331539e-02 9.98677459e-01 2.71933827e-02 1.07848373e-01] [ 3.76825065e-03 -2.73836286e-02 9.99617896e-01 -1.71221948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17719347 meters Centerline goodness : 0.892971 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99045692e-01 -4.33634397e-02 -5.22660472e-03 1.06817194e+01] [ 4.34888134e-02 9.98691643e-01 2.69021501e-02 1.08913482e-01] [ 4.05319669e-03 -2.71037760e-02 9.99624408e-01 -1.71226657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20719346999999 meters Centerline goodness : 0.891335 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99282043e-01 -3.69861998e-02 -8.21090842e-03 1.06838348e+01] [ 3.71285312e-02 9.99149858e-01 1.79174239e-02 1.07950973e-01] [ 7.54123056e-03 -1.82094189e-02 9.99805755e-01 -1.71306934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23719347 meters Centerline goodness : 0.894093 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99288180e-01 -3.68112748e-02 -8.25007382e-03 1.06841363e+01] [ 3.69537283e-02 9.99157787e-01 1.78364470e-02 1.08116673e-01] [ 7.58654315e-03 -1.81286217e-02 9.99806880e-01 -1.71331302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26719347 meters Centerline goodness : 0.896271 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99420612e-01 -3.29439292e-02 -8.55201349e-03 1.06844889e+01] [ 3.31259531e-02 9.99206923e-01 2.20951688e-02 1.07611354e-01] [ 7.81732941e-03 -2.23656608e-02 9.99719294e-01 -1.71313095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29719347 meters Centerline goodness : 0.889251 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99637223e-01 -2.57466207e-02 -7.90782586e-03 1.06810170e+01] [ 2.59622278e-02 9.99256754e-01 2.84938822e-02 1.10392048e-01] [ 7.16832723e-03 -2.86888500e-02 9.99562687e-01 -1.71054642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32719347 meters Centerline goodness : 0.887192 Centerline is valid? [False, False] Translation: X:10.68, Y:0.11, Z:-1.71 [[ 9.99677106e-01 -2.42380114e-02 -7.62911136e-03 1.06802973e+01] [ 2.44459322e-02 9.99296099e-01 2.84552889e-02 1.13026419e-01] [ 6.93404160e-03 -2.86326016e-02 9.99565952e-01 -1.71053508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35719347 meters Centerline goodness : 0.892182 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99802836e-01 -1.79445699e-02 -8.50190929e-03 1.06767545e+01] [ 1.80815733e-02 9.99703291e-01 1.63213570e-02 1.17067979e-01] [ 8.20650696e-03 -1.64718669e-02 9.99830651e-01 -1.70898002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38719347 meters Centerline goodness : 0.891033 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99824716e-01 -1.66950040e-02 -8.47429400e-03 1.06770320e+01] [ 1.68331215e-02 9.99722200e-01 1.64975150e-02 1.18116573e-01] [ 8.19651376e-03 -1.66372721e-02 9.99827994e-01 -1.70966626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41719347 meters Centerline goodness : 0.890801 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99897912e-01 -1.16980517e-02 -8.20496189e-03 1.06769487e+01] [ 1.18662547e-02 9.99714063e-01 2.07601767e-02 1.18321656e-01] [ 7.95976216e-03 -2.08554195e-02 9.99750816e-01 -1.71054045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44719347 meters Centerline goodness : 0.888464 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99914654e-01 -9.52985776e-03 -8.93681653e-03 1.06799845e+01] [ 9.72938993e-03 9.99698241e-01 2.25558539e-02 1.18041444e-01] [ 8.71916568e-03 -2.26408787e-02 9.99705640e-01 -1.71263665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47719347 meters Centerline goodness : 0.888262 Centerline is valid? [False, False] Translation: X:10.68, Y:0.12, Z:-1.71 [[ 9.99922960e-01 -7.97915271e-03 -9.50828113e-03 1.06828753e+01] [ 8.20615529e-03 9.99676371e-01 2.40792899e-02 1.16336891e-01] [ 9.31307165e-03 -2.41554613e-02 9.99664834e-01 -1.71489147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50719347 meters Centerline goodness : 0.886837 Centerline is valid? [False, False] Translation: X:10.69, Y:0.11, Z:-1.72 [[ 9.99914729e-01 -7.99797924e-03 -1.03231424e-02 1.06871482e+01] [ 8.24559218e-03 9.99673838e-01 2.41707857e-02 1.14030318e-01] [ 1.01264579e-02 -2.42538450e-02 9.99654543e-01 -1.71824384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53719347 meters Centerline goodness : 0.883671 Centerline is valid? [False, False] Translation: X:10.71, Y:0.10, Z:-1.72 [[ 9.99915589e-01 -8.91414091e-03 -9.45268267e-03 1.07089223e+01] [ 9.17868108e-03 9.99556716e-01 2.83217897e-02 1.04844368e-01] [ 9.19602802e-03 -2.84061622e-02 9.99554162e-01 -1.72172770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56719347 meters Centerline goodness : 0.881902 Centerline is valid? [False, False] Translation: X:10.73, Y:0.10, Z:-1.72 [[ 9.99936732e-01 -9.76557472e-03 -5.58253666e-03 1.07255868e+01] [ 9.94164957e-03 9.99424418e-01 3.24344955e-02 9.89118289e-02] [ 5.26258196e-03 -3.24879431e-02 9.99458273e-01 -1.72319090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59719347 meters Centerline goodness : 0.883035 Centerline is valid? [False, False] Translation: X:10.74, Y:0.09, Z:-1.72 [[ 9.99932679e-01 -1.14531108e-02 -1.86105188e-03 1.07423022e+01] [ 1.15097049e-02 9.99357300e-01 3.39486833e-02 9.37936892e-02] [ 1.47103775e-03 -3.39678180e-02 9.99421845e-01 -1.72277347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62719347 meters Centerline goodness : 0.880621 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:-1.72 [[ 9.99781648e-01 -2.08278833e-02 -1.68979496e-03 1.07422217e+01] [ 2.08658001e-02 9.99420850e-01 2.68808936e-02 8.43481945e-02] [ 1.12894420e-03 -2.69102830e-02 9.99637215e-01 -1.72133962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65719347 meters Centerline goodness : 0.879013 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:-1.72 [[ 9.99690715e-01 -2.47816668e-02 -2.08407557e-03 1.07434361e+01] [ 2.48250560e-02 9.99396010e-01 2.43173097e-02 7.96940846e-02] [ 1.48019335e-03 -2.43615260e-02 9.99702118e-01 -1.72122044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68719347 meters Centerline goodness : 0.877115 Centerline is valid? [False, False] Translation: X:10.74, Y:0.08, Z:-1.72 [[ 9.99585471e-01 -2.87034860e-02 -2.23535566e-03 1.07440087e+01] [ 2.87446133e-02 9.99360164e-01 2.12840222e-02 7.62050714e-02] [ 1.62299977e-03 -2.13394538e-02 9.99770971e-01 -1.72115779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71719347 meters Centerline goodness : 0.871231 Centerline is valid? [False, False] Translation: X:10.75, Y:0.07, Z:-1.72 [[ 9.99474537e-01 -3.23118371e-02 -2.56800965e-03 1.07451494e+01] [ 3.23534487e-02 9.99309445e-01 1.82725836e-02 7.33993833e-02] [ 1.97581555e-03 -1.83460660e-02 9.99829745e-01 -1.72144095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74719347 meters Centerline goodness : 0.872408 Centerline is valid? [False, False] Translation: X:10.75, Y:0.07, Z:-1.72 [[ 9.99348519e-01 -3.59832289e-02 -2.78294111e-03 1.07459264e+01] [ 3.60240204e-02 9.99217240e-01 1.63455474e-02 6.58841301e-02] [ 2.19259716e-03 -1.64351513e-02 9.99862530e-01 -1.72141780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77719347 meters Centerline goodness : 0.869876 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.72 [[ 9.99270166e-01 -3.80544131e-02 -3.31619341e-03 1.07482989e+01] [ 3.80993645e-02 9.99165072e-01 1.47512109e-02 6.30876033e-02] [ 2.75207595e-03 -1.48667898e-02 9.99885696e-01 -1.72284258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80719347 meters Centerline goodness : 0.867615 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.72 [[ 9.99270166e-01 -3.80345342e-02 -3.53685165e-03 1.07488987e+01] [ 3.80856519e-02 9.99150713e-01 1.57268892e-02 5.98807119e-02] [ 2.93568294e-03 -1.58501144e-02 9.99870069e-01 -1.72304269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83719347 meters Centerline goodness : 0.868099 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.72 [[ 9.99139061e-01 -4.12521952e-02 -4.40374888e-03 1.07516301e+01] [ 4.13080473e-02 9.99055915e-01 1.34508069e-02 5.58939212e-02] [ 3.84471605e-03 -1.36211369e-02 9.99899836e-01 -1.72423402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86719347 meters Centerline goodness : 0.866165 Centerline is valid? [False, False] Translation: X:10.75, Y:0.06, Z:-1.73 [[ 9.99008710e-01 -4.42285633e-02 -5.04304999e-03 1.07541255e+01] [ 4.42795549e-02 9.98964076e-01 1.04926763e-02 5.51150991e-02] [ 4.57374977e-03 -1.07055790e-02 9.99932233e-01 -1.72542280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89719347 meters Centerline goodness : 0.860207 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.73 [[ 9.98837518e-01 -4.79156841e-02 -5.26299814e-03 1.07550355e+01] [ 4.79500010e-02 9.98827931e-01 6.60012374e-03 5.52913982e-02] [ 4.94058010e-03 -6.84481199e-03 9.99964369e-01 -1.72553780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92719347 meters Centerline goodness : 0.863879 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98774499e-01 -4.91446590e-02 -5.85687348e-03 1.07564079e+01] [ 4.91837919e-02 9.98767030e-01 6.73601931e-03 5.23608937e-02] [ 5.51861276e-03 -7.01582755e-03 9.99960161e-01 -1.72591990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95719346999999 meters Centerline goodness : 0.859277 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98748786e-01 -4.96578288e-02 -5.91289632e-03 1.07566029e+01] [ 4.96964724e-02 9.98742702e-01 6.57839225e-03 5.17790848e-02] [ 5.57879338e-03 -6.86401136e-03 9.99960880e-01 -1.72595441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98719347 meters Centerline goodness : 0.858230 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98718918e-01 -5.02201198e-02 -6.20173535e-03 1.07571526e+01] [ 5.02585543e-02 9.98716963e-01 6.20526359e-03 5.18343481e-02] [ 5.88214921e-03 -6.50900439e-03 9.99961516e-01 -1.72592458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01719347 meters Centerline goodness : 0.860183 Centerline is valid? [False, False] Translation: X:10.76, Y:0.05, Z:-1.73 [[ 9.98704031e-01 -5.04940755e-02 -6.37234035e-03 1.07574213e+01] [ 5.05319151e-02 9.98704879e-01 5.92368094e-03 5.25176220e-02] [ 6.06497661e-03 -6.23801060e-03 9.99962151e-01 -1.72578319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04719347 meters Centerline goodness : 0.855758 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98681928e-01 -5.08938227e-02 -6.65028967e-03 1.07576186e+01] [ 5.09272536e-02 9.98690058e-01 4.95813193e-03 5.51128587e-02] [ 6.38923989e-03 -5.29027774e-03 9.99965595e-01 -1.72499280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07719347 meters Centerline goodness : 0.857053 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98663339e-01 -5.12192258e-02 -6.93731582e-03 1.07582042e+01] [ 5.12493808e-02 9.98676882e-01 4.24098114e-03 5.63959057e-02] [ 6.71091716e-03 -4.59084552e-03 9.99966943e-01 -1.72468071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10719347 meters Centerline goodness : 0.858643 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98664834e-01 -5.11975072e-02 -6.88220945e-03 1.07578215e+01] [ 5.12258048e-02 9.98679085e-01 4.00019988e-03 5.70619801e-02] [ 6.66831837e-03 -4.34740567e-03 9.99968316e-01 -1.72404753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13719347 meters Centerline goodness : 0.856133 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98672203e-01 -5.10515193e-02 -6.89731150e-03 1.07574270e+01] [ 5.10776699e-02 9.98687941e-01 3.66989180e-03 5.80880942e-02] [ 6.70090827e-03 -4.01731753e-03 9.99969479e-01 -1.72317708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16719347 meters Centerline goodness : 0.858873 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.98926771e-01 -4.63169955e-02 2.07302667e-04 1.07642905e+01] [ 4.63171262e-02 9.98926556e-01 -6.77398772e-04 6.26318578e-02] [-1.75705063e-04 6.86273432e-04 9.99999749e-01 -1.72414717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19719347 meters Centerline goodness : 0.860726 Centerline is valid? [False, False] Translation: X:10.76, Y:0.06, Z:-1.72 [[ 9.99080408e-01 -4.28755082e-02 -1.72393606e-04 1.07642572e+01] [ 4.28758131e-02 9.99076968e-01 2.62252208e-03 6.40134376e-02] [ 5.97925141e-05 -2.62750195e-03 9.99996546e-01 -1.72328271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22719347 meters Centerline goodness : 0.856389 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99166417e-01 -4.08223688e-02 -7.92507418e-05 1.07621810e+01] [ 4.08223402e-02 9.99157537e-01 4.21334096e-03 6.64330131e-02] [-9.28145826e-05 -4.21306399e-03 9.99991121e-01 -1.72083717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25719347 meters Centerline goodness : 0.856079 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99184937e-01 -4.03635266e-02 -4.96493571e-04 1.07623026e+01] [ 4.03648574e-02 9.99180348e-01 3.05140582e-03 7.15519064e-02] [ 3.72921119e-04 -3.06895963e-03 9.99995221e-01 -1.71948990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28719347 meters Centerline goodness : 0.859142 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99317248e-01 -3.69404945e-02 -6.62124810e-04 1.07623035e+01] [ 3.69440549e-02 9.99295700e-01 6.57575664e-03 7.19870394e-02] [ 4.18746774e-04 -6.59572860e-03 9.99978160e-01 -1.71930141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31719347 meters Centerline goodness : 0.857016 Centerline is valid? [False, False] Translation: X:10.76, Y:0.07, Z:-1.72 [[ 9.99307524e-01 -3.71993385e-02 -8.25472220e-04 1.07628620e+01] [ 3.72035003e-02 9.99290970e-01 5.78419090e-03 7.42589816e-02] [ 6.09718860e-04 -5.81089594e-03 9.99982931e-01 -1.71949293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34719347 meters Centerline goodness : 0.860114 Centerline is valid? [False, False] Translation: X:10.76, Y:0.08, Z:-1.72 [[ 9.99295650e-01 -3.75152137e-02 -9.01050912e-04 1.07633876e+01] [ 3.75193135e-02 9.99283030e-01 5.07225476e-03 7.66212800e-02] [ 7.10118163e-04 -5.10248893e-03 9.99986730e-01 -1.71988638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37719347 meters Centerline goodness : 0.859595 Centerline is valid? [False, False] Translation: X:10.78, Y:0.09, Z:-1.72 [[ 9.99241640e-01 -3.87707976e-02 3.60138002e-03 1.07756946e+01] [ 3.87910705e-02 9.99230851e-01 -5.74107076e-03 8.56674998e-02] [-3.37602413e-03 5.87641835e-03 9.99977035e-01 -1.72361537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40719347 meters Centerline goodness : 0.861160 Centerline is valid? [False, False] Translation: X:10.79, Y:0.09, Z:-1.73 [[ 9.99313449e-01 -3.66079744e-02 5.69966733e-03 1.07861970e+01] [ 3.66843568e-02 9.99229822e-01 -1.39291252e-02 8.99639600e-02] [-5.18536052e-03 1.41286508e-02 9.99886740e-01 -1.72519681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43719347 meters Centerline goodness : 0.860731 Centerline is valid? [False, False] Translation: X:10.80, Y:0.09, Z:-1.73 [[ 9.99337148e-01 -3.48157321e-02 1.06361922e-02 1.07979397e+01] [ 3.50381558e-02 9.99154789e-01 -2.14950220e-02 9.37689035e-02] [-9.87883741e-03 2.18534465e-02 9.99712376e-01 -1.72946669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46719347 meters Centerline goodness : 0.859303 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99271234e-01 -3.67994538e-02 1.01391120e-02 1.08007088e+01] [ 3.70384287e-02 9.99013789e-01 -2.44868174e-02 9.89594816e-02] [-9.22801123e-03 2.48445090e-02 9.99648735e-01 -1.73147244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49719347 meters Centerline goodness : 0.860224 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99377603e-01 -3.38925321e-02 9.78283169e-03 1.08017061e+01] [ 3.40957244e-02 9.99189217e-01 -2.14100283e-02 1.00367509e-01] [-9.04925987e-03 2.17302555e-02 9.99722915e-01 -1.73220871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52719347 meters Centerline goodness : 0.860383 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99477034e-01 -3.09343843e-02 9.41923345e-03 1.08026037e+01] [ 3.11048514e-02 9.99344466e-01 -1.85236843e-02 1.02960814e-01] [-8.84004005e-03 1.88069809e-02 9.99784052e-01 -1.73275528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55719347 meters Centerline goodness : 0.860383 Centerline is valid? [False, False] Translation: X:10.80, Y:0.10, Z:-1.73 [[ 9.99477034e-01 -3.09343843e-02 9.41923345e-03 1.08026037e+01] [ 3.11048514e-02 9.99344466e-01 -1.85236843e-02 1.02960814e-01] [-8.84004005e-03 1.88069809e-02 9.99784052e-01 -1.73275528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58719347 meters Centerline goodness : 0.861634 Centerline is valid? [False, False] Translation: X:10.80, Y:0.11, Z:-1.73 [[ 9.99566718e-01 -2.79765112e-02 9.14828072e-03 1.08031143e+01] [ 2.81177993e-02 9.99481337e-01 -1.56986414e-02 1.05909859e-01] [-8.70434262e-03 1.59490690e-02 9.99834917e-01 -1.73297308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61719347 meters Centerline goodness : 0.864238 Centerline is valid? [False, False] Translation: X:10.80, Y:0.11, Z:-1.73 [[ 9.99638932e-01 -2.53069696e-02 9.03123388e-03 1.08030498e+01] [ 2.54351407e-02 9.99573171e-01 -1.43711252e-02 1.14015740e-01] [-8.66368946e-03 1.45956470e-02 9.99855943e-01 -1.73245648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64719347 meters Centerline goodness : 0.862953 Centerline is valid? [False, False] Translation: X:10.80, Y:0.12, Z:-1.73 [[ 9.99719379e-01 -2.19765412e-02 8.84282342e-03 1.08032549e+01] [ 2.20768787e-02 9.99691120e-01 -1.14138180e-02 1.16732327e-01] [-8.58925581e-03 1.16058370e-02 9.99895759e-01 -1.73237018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67719347 meters Centerline goodness : 0.861746 Centerline is valid? [False, False] Translation: X:10.80, Y:0.12, Z:-1.73 [[ 9.99788739e-01 -1.86216006e-02 8.70132633e-03 1.08031252e+01] [ 1.86931955e-02 9.99791472e-01 -8.22046402e-03 1.18667477e-01] [-8.54643367e-03 8.38138295e-03 9.99928353e-01 -1.73186293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70719347 meters Centerline goodness : 0.867196 Centerline is valid? [False, False] Translation: X:10.80, Y:0.12, Z:-1.73 [[ 9.99838800e-01 -1.56663841e-02 8.77149615e-03 1.08027621e+01] [ 1.57229161e-02 9.99855818e-01 -6.41353901e-03 1.24341478e-01] [-8.66975449e-03 6.55041864e-03 9.99940962e-01 -1.73146454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73719347 meters Centerline goodness : 0.866282 Centerline is valid? [False, False] Translation: X:10.80, Y:0.13, Z:-1.73 [[ 9.99876243e-01 -1.30569593e-02 8.77584285e-03 1.08024198e+01] [ 1.30918286e-02 9.99906584e-01 -3.92769335e-03 1.27100134e-01] [-8.72373932e-03 4.04209910e-03 9.99953778e-01 -1.73100338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76719347 meters Centerline goodness : 0.869040 Centerline is valid? [False, False] Translation: X:10.80, Y:0.13, Z:-1.73 [[ 9.99911507e-01 -9.99870008e-03 8.77518595e-03 1.08022593e+01] [ 1.00062623e-02 9.99949601e-01 -8.18294686e-04 1.29167821e-01] [-8.76656181e-03 9.06029085e-04 9.99961162e-01 -1.73074820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79719347 meters Centerline goodness : 0.870270 Centerline is valid? [False, False] Translation: X:10.80, Y:0.13, Z:-1.73 [[ 9.99932722e-01 -7.34697372e-03 8.97630761e-03 1.08016034e+01] [ 7.33733351e-03 9.99972469e-01 1.10642196e-03 1.34905042e-01] [-8.98418934e-03 -1.04048536e-03 9.99959100e-01 -1.73001773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82719347 meters Centerline goodness : 0.870910 Centerline is valid? [False, False] Translation: X:10.80, Y:0.14, Z:-1.73 [[ 9.99955454e-01 -4.09294480e-03 8.50519687e-03 1.08025411e+01] [ 4.05443038e-03 9.99981472e-01 4.54065858e-03 1.36225698e-01] [-8.52362395e-03 -4.50597258e-03 9.99953521e-01 -1.73013463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85719347 meters Centerline goodness : 0.873058 Centerline is valid? [False, False] Translation: X:10.80, Y:0.14, Z:-1.73 [[ 9.99965418e-01 -1.03535939e-03 8.25166227e-03 1.08033302e+01] [ 9.71164741e-04 9.99969265e-01 7.77981568e-03 1.37451221e-01] [-8.25946356e-03 -7.77153292e-03 9.99935690e-01 -1.73052316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88719347 meters Centerline goodness : 0.872306 Centerline is valid? [False, False] Translation: X:10.80, Y:0.14, Z:-1.73 [[ 9.99967904e-01 2.23667583e-03 7.69338540e-03 1.08048657e+01] [-2.32383066e-03 9.99933019e-01 1.13383185e-02 1.38619866e-01] [-7.66750994e-03 -1.13558327e-02 9.99906123e-01 -1.73124302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91719347 meters Centerline goodness : 0.872523 Centerline is valid? [False, False] Translation: X:10.81, Y:0.14, Z:-1.73 [[ 9.99968161e-01 3.89045616e-03 6.96711193e-03 1.08080935e+01] [-3.97910907e-03 9.99910720e-01 1.27561546e-02 1.40928155e-01] [-6.91686265e-03 -1.27834713e-02 9.99894364e-01 -1.73375222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94719347 meters Centerline goodness : 0.874537 Centerline is valid? [False, False] Translation: X:10.81, Y:0.15, Z:-1.74 [[ 9.99967012e-01 5.33957064e-03 6.12070812e-03 1.08122263e+01] [-5.42085672e-03 9.99896301e-01 1.33417514e-02 1.46410612e-01] [-6.04883418e-03 -1.33744908e-02 9.99892261e-01 -1.73721221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97719347 meters Centerline goodness : 0.873465 Centerline is valid? [False, False] Translation: X:10.81, Y:0.15, Z:-1.74 [[ 9.99950574e-01 7.48174622e-03 6.54781339e-03 1.08104316e+01] [-7.58086894e-03 9.99855023e-01 1.52467235e-02 1.48955439e-01] [-6.43279199e-03 -1.52956081e-02 9.99862322e-01 -1.73574765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00719347 meters Centerline goodness : 0.873002 Centerline is valid? [False, False] Translation: X:10.81, Y:0.15, Z:-1.73 [[ 9.99927972e-01 9.74450471e-03 7.00678087e-03 1.08084580e+01] [-9.86647671e-03 9.99796617e-01 1.75891348e-02 1.51396624e-01] [-6.83395840e-03 -1.76570001e-02 9.99820748e-01 -1.73355861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03719347 meters Centerline goodness : 0.875079 Centerline is valid? [False, False] Translation: X:10.81, Y:0.16, Z:-1.73 [[ 9.99901204e-01 1.20150676e-02 7.29522355e-03 1.08064490e+01] [-1.21502531e-02 9.99749845e-01 1.87781352e-02 1.56703684e-01] [-7.06777805e-03 -1.88649188e-02 9.99797060e-01 -1.73078782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06719347 meters Centerline goodness : 0.877741 Centerline is valid? [False, False] Translation: X:10.81, Y:0.16, Z:-1.73 [[ 9.99869631e-01 1.43590655e-02 7.38499415e-03 1.08052253e+01] [-1.45102003e-02 9.99677610e-01 2.08358012e-02 1.58762082e-01] [-7.08343067e-03 -2.09402426e-02 9.99755636e-01 -1.72923888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09719347 meters Centerline goodness : 0.876176 Centerline is valid? [False, False] Translation: X:10.81, Y:0.16, Z:-1.73 [[ 9.99874369e-01 1.41550056e-02 7.13317176e-03 1.08058751e+01] [-1.42928999e-02 9.99704433e-01 1.96662058e-02 1.61752877e-01] [-6.85268818e-03 -1.97656888e-02 9.99781155e-01 -1.72937280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12719347 meters Centerline goodness : 0.878979 Centerline is valid? [False, False] Translation: X:10.81, Y:0.17, Z:-1.73 [[ 9.99878832e-01 1.38423958e-02 7.12106071e-03 1.08065540e+01] [-1.39661806e-02 9.99746905e-01 1.76372490e-02 1.68495277e-01] [-6.87511662e-03 -1.77345660e-02 9.99819093e-01 -1.72990733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15719347 meters Centerline goodness : 0.875240 Centerline is valid? [False, False] Translation: X:10.81, Y:0.17, Z:-1.73 [[ 9.99883933e-01 1.34592062e-02 7.13933646e-03 1.08065079e+01] [-1.35738692e-02 9.99775606e-01 1.62630837e-02 1.72357588e-01] [-6.91884624e-03 -1.63581045e-02 9.99842259e-01 -1.72975508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18719347 meters Centerline goodness : 0.871315 Centerline is valid? [False, False] Translation: X:10.81, Y:0.17, Z:-1.73 [[ 9.99883189e-01 1.36282988e-02 6.91944091e-03 1.08070793e+01] [-1.37343898e-02 9.99785170e-01 1.55235591e-02 1.74732137e-01] [-6.70639471e-03 -1.56167801e-02 9.99855560e-01 -1.72983880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21719347 meters Centerline goodness : 0.881664 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99884100e-01 1.36091235e-02 6.82483257e-03 1.08074364e+01] [-1.37107052e-02 9.99792509e-01 1.50650496e-02 1.75805104e-01] [-6.61839436e-03 -1.51568768e-02 9.99863224e-01 -1.72993442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24719347 meters Centerline goodness : 0.868947 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99878890e-01 1.39055475e-02 6.98862794e-03 1.08076520e+01] [-1.40048300e-02 9.99798749e-01 1.43640402e-02 1.77896730e-01] [-6.78748163e-03 -1.44601751e-02 9.99872409e-01 -1.73019219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27719347 meters Centerline goodness : 0.870085 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99863625e-01 1.51662962e-02 6.53563867e-03 1.08096228e+01] [-1.52650742e-02 9.99765824e-01 1.53386365e-02 1.79074024e-01] [-6.30147788e-03 -1.54363117e-02 9.99860996e-01 -1.73134656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30719347 meters Centerline goodness : 0.868746 Centerline is valid? [False, False] Translation: X:10.81, Y:0.18, Z:-1.73 [[ 9.99864065e-01 1.52141745e-02 6.35450136e-03 1.08099950e+01] [-1.53078346e-02 9.99770905e-01 1.49602067e-02 1.80715385e-01] [-6.12543838e-03 -1.50554467e-02 9.99867898e-01 -1.73120326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33719347 meters Centerline goodness : 0.864844 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99820522e-01 1.57775964e-02 1.04876893e-02 1.08168639e+01] [-1.60740740e-02 9.99455567e-01 2.88130722e-02 1.77897565e-01] [-1.00273785e-02 -2.89764808e-02 9.99529797e-01 -1.73054976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36719347 meters Centerline goodness : 0.863928 Centerline is valid? [False, False] Translation: X:10.84, Y:0.18, Z:-1.73 [[ 9.99863610e-01 1.28030525e-02 1.04327663e-02 1.08372582e+01] [-1.30828781e-02 9.99544117e-01 2.72102274e-02 1.77503744e-01] [-1.00796362e-02 -2.73430068e-02 9.99575290e-01 -1.73137329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39719347 meters Centerline goodness : 0.864714 Centerline is valid? [False, False] Translation: X:10.84, Y:0.18, Z:-1.73 [[ 9.99866470e-01 1.27544314e-02 1.02160226e-02 1.08380899e+01] [-1.30327029e-02 9.99532652e-01 2.76518619e-02 1.75490343e-01] [-9.85856439e-03 -2.77813119e-02 9.99565409e-01 -1.73182888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42719347 meters Centerline goodness : 0.862260 Centerline is valid? [False, False] Translation: X:10.84, Y:0.17, Z:-1.73 [[ 9.99929527e-01 9.63576550e-03 6.93496127e-03 1.08377279e+01] [-9.91191230e-03 9.99111920e-01 4.09527322e-02 1.71282994e-01] [-6.53419155e-03 -4.10185848e-02 9.99137018e-01 -1.73132791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45719347 meters Centerline goodness : 0.860394 Centerline is valid? [False, False] Translation: X:10.85, Y:0.17, Z:-1.73 [[ 9.99974617e-01 4.44374227e-03 5.56947609e-03 1.08488047e+01] [-4.71181274e-03 9.98783684e-01 4.90810735e-02 1.68748144e-01] [-5.34459821e-03 -4.91060700e-02 9.98779269e-01 -1.73104328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48719347 meters Centerline goodness : 0.859651 Centerline is valid? [False, False] Translation: X:10.85, Y:0.17, Z:-1.73 [[ 9.99986723e-01 7.74127547e-04 5.09453338e-03 1.08499769e+01] [-1.00301194e-03 9.98982904e-01 4.50793864e-02 1.69987252e-01] [-5.05445456e-03 -4.50838978e-02 9.98970417e-01 -1.73141386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51719347 meters Centerline goodness : 0.857833 Centerline is valid? [False, False] Translation: X:10.84, Y:0.17, Z:-1.73 [[ 9.99999892e-01 3.78852579e-04 2.67554264e-04 1.08416626e+01] [-3.87641981e-04 9.99433505e-01 3.36529029e-02 1.71674491e-01] [-2.54653207e-04 -3.36530030e-02 9.99433545e-01 -1.72935643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54719347 meters Centerline goodness : 0.859332 Centerline is valid? [False, False] Translation: X:10.84, Y:0.17, Z:-1.73 [[ 9.99999978e-01 -3.57634826e-05 -2.07800389e-04 1.08424557e+01] [ 4.28099264e-05 9.99421518e-01 3.40092306e-02 1.70302771e-01] [ 2.06463892e-04 -3.40092387e-02 9.99421497e-01 -1.72929313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57719347 meters Centerline goodness : 0.858037 Centerline is valid? [False, False] Translation: X:10.83, Y:0.17, Z:-1.73 [[ 9.99983723e-01 6.04468777e-04 -5.67340158e-03 1.08334941e+01] [-4.65952218e-04 9.99702540e-01 2.43847250e-02 1.72922260e-01] [ 5.68645377e-03 -2.43816846e-02 9.99686550e-01 -1.72658850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60719347 meters Centerline goodness : 0.854738 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99955331e-01 7.73711912e-04 -9.42005760e-03 1.08180540e+01] [-5.86017740e-04 9.99801576e-01 1.99114309e-02 1.76378708e-01] [ 9.43359415e-03 -1.99050212e-02 9.99757369e-01 -1.72701576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63719347 meters Centerline goodness : 0.855377 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99949718e-01 9.09117654e-04 -9.98675354e-03 1.08198096e+01] [-7.13693161e-04 9.99808537e-01 1.95545346e-02 1.78238355e-01] [ 1.00026188e-02 -1.95464239e-02 9.99758913e-01 -1.72805313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66719347 meters Centerline goodness : 0.853798 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99940935e-01 3.90735512e-03 -1.01419884e-02 1.08202024e+01] [-3.67979976e-03 9.99743224e-01 2.23594604e-02 1.80908813e-01] [ 1.02267505e-02 -2.23208192e-02 9.99698552e-01 -1.72804108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69719347 meters Centerline goodness : 0.852287 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.73 [[ 9.99944288e-01 3.37511950e-03 -1.00014367e-02 1.08193193e+01] [-3.16053719e-03 9.99766130e-01 2.13938314e-02 1.82969470e-01] [ 1.00713044e-02 -2.13610296e-02 9.99721099e-01 -1.72671080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72719347 meters Centerline goodness : 0.851237 Centerline is valid? [False, False] Translation: X:10.82, Y:0.18, Z:-1.72 [[ 9.99951136e-01 2.23682435e-03 -9.62921314e-03 1.08172550e+01] [-2.04226841e-03 9.99794532e-01 2.01673942e-02 1.84493065e-01] [ 9.67234556e-03 -2.01467433e-02 9.99750246e-01 -1.72436272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75719347 meters Centerline goodness : 0.849073 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99958591e-01 5.88002301e-04 -9.08128513e-03 1.08146182e+01] [-4.20308102e-04 9.99829571e-01 1.84567920e-02 1.85558314e-01] [ 9.09059005e-03 -1.84522108e-02 9.99788416e-01 -1.72215464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78719347 meters Centerline goodness : 0.847150 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99953957e-01 -5.07767889e-03 -8.14258914e-03 1.08116503e+01] [ 5.18414530e-03 9.99900649e-01 1.31078932e-02 1.87159905e-01] [ 8.07522249e-03 -1.31495020e-02 9.99880934e-01 -1.71969696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81719347 meters Centerline goodness : 0.844538 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99945640e-01 -6.85160951e-03 -7.85957984e-03 1.08102057e+01] [ 6.94507556e-03 9.99904752e-01 1.19269876e-02 1.87305831e-01] [ 7.77711217e-03 -1.19809246e-02 9.99897982e-01 -1.71840344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84719347 meters Centerline goodness : 0.845022 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99939486e-01 -7.79119788e-03 -7.76667355e-03 1.08099813e+01] [ 7.88011198e-03 9.99903005e-01 1.14840608e-02 1.87385511e-01] [ 7.67644564e-03 -1.15445681e-02 9.99903893e-01 -1.71829090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87719347 meters Centerline goodness : 0.841019 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99928424e-01 -8.97596491e-03 -7.91071214e-03 1.08106939e+01] [ 9.05820895e-03 9.99904653e-01 1.04227690e-02 1.90301208e-01] [ 7.81640347e-03 -1.04936799e-02 9.99914390e-01 -1.71882579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90719347 meters Centerline goodness : 0.842008 Centerline is valid? [False, False] Translation: X:10.81, Y:0.19, Z:-1.72 [[ 9.99925325e-01 -9.24162849e-03 -7.99602787e-03 1.08112101e+01] [ 9.32015417e-03 9.99908153e-01 9.83969985e-03 1.92153320e-01] [ 7.90435861e-03 -9.91348928e-03 9.99919619e-01 -1.71931846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93719347 meters Centerline goodness : 0.842973 Centerline is valid? [False, False] Translation: X:10.79, Y:0.19, Z:-1.72 [[ 9.99932370e-01 -7.05644243e-03 -9.24452020e-03 1.07930449e+01] [ 7.14523186e-03 9.99928323e-01 9.60698705e-03 1.93288167e-01] [ 9.17606643e-03 -9.67239157e-03 9.99911118e-01 -1.71982625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96719347 meters Centerline goodness : 0.840044 Centerline is valid? [False, False] Translation: X:10.79, Y:0.19, Z:-1.72 [[ 9.99927726e-01 -7.33402065e-03 -9.52650650e-03 1.07938504e+01] [ 7.42126594e-03 9.99930550e-01 9.15532678e-03 1.94701980e-01] [ 9.45869953e-03 -9.22536383e-03 9.99912709e-01 -1.72016291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99719347 meters Centerline goodness : 0.843164 Centerline is valid? [False, False] Translation: X:10.80, Y:0.20, Z:-1.72 [[ 9.99928220e-01 -6.69329489e-03 -9.93755513e-03 1.07965709e+01] [ 6.78849419e-03 9.99931095e-01 9.57712723e-03 1.98862830e-01] [ 9.87276784e-03 -9.64390082e-03 9.99904757e-01 -1.72267087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02719347 meters Centerline goodness : 0.840008 Centerline is valid? [False, False] Translation: X:10.80, Y:0.20, Z:-1.72 [[ 9.99941898e-01 -4.04414072e-03 -9.99226019e-03 1.07969325e+01] [ 4.16919350e-03 9.99912855e-01 1.25259918e-02 2.00286491e-01] [ 9.94073254e-03 -1.25669237e-02 9.99871619e-01 -1.72321701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05719347 meters Centerline goodness : 0.841025 Centerline is valid? [False, False] Translation: X:10.80, Y:0.20, Z:-1.72 [[ 9.99948342e-01 -1.32605479e-03 -1.00774172e-02 1.07971074e+01] [ 1.48142477e-03 9.99879917e-01 1.54258468e-02 2.02008452e-01] [ 1.00557515e-02 -1.54399788e-02 9.99830230e-01 -1.72342990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08719347 meters Centerline goodness : 0.840286 Centerline is valid? [False, False] Translation: X:10.80, Y:0.21, Z:-1.72 [[ 9.99947983e-01 6.63120321e-04 -1.01780194e-02 1.07976818e+01] [-4.95343490e-04 9.99864107e-01 1.64779096e-02 2.08902709e-01] [ 1.01875631e-02 -1.64720108e-02 9.99812426e-01 -1.72391274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11719347 meters Centerline goodness : 0.840432 Centerline is valid? [False, False] Translation: X:10.80, Y:0.21, Z:-1.72 [[ 9.99938297e-01 3.74611732e-03 -1.04579181e-02 1.07984432e+01] [-3.54498958e-03 9.99809669e-01 1.91848385e-02 2.11690847e-01] [ 1.05277963e-02 -1.91465815e-02 9.99761258e-01 -1.72428772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14719347 meters Centerline goodness : 0.838195 Centerline is valid? [False, False] Translation: X:10.78, Y:0.22, Z:-1.72 [[ 9.99862740e-01 7.41747980e-03 -1.48149274e-02 1.07838955e+01] [-7.16398653e-03 9.99828272e-01 1.70910595e-02 2.17202696e-01] [ 1.49391558e-02 -1.69825797e-02 9.99744174e-01 -1.72458382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17719347 meters Centerline goodness : 0.836547 Centerline is valid? [False, False] Translation: X:10.78, Y:0.23, Z:-1.73 [[ 0.99977667 0.01608543 -0.01370665 10.78344793] [-0.01588787 0.99977004 0.01440256 0.22741548] [ 0.01393517 -0.01418158 0.99980233 -1.73201303] [ 0. 0. 0. 1. ]] SLAMing on 130.20719347 meters Centerline goodness : 0.836308 Centerline is valid? [False, False] Translation: X:10.78, Y:0.23, Z:-1.73 [[ 0.99970954 0.01975717 -0.01380202 10.78455915] [-0.01952701 0.99967124 0.01661678 0.23278059] [ 0.01412578 -0.01634244 0.99976667 -1.73283336] [ 0. 0. 0. 1. ]] SLAMing on 130.23719347 meters Centerline goodness : 0.836991 Centerline is valid? [False, False] Translation: X:10.79, Y:0.24, Z:-1.73 [[ 9.99651216e-01 2.43165579e-02 -1.03029594e-02 1.07924544e+01] [-2.42088581e-02 9.99652281e-01 1.04521583e-02 2.39482092e-01] [ 1.05535374e-02 -1.01990899e-02 9.99892295e-01 -1.73287370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26719347 meters Centerline goodness : 0.836380 Centerline is valid? [False, False] Translation: X:10.79, Y:0.24, Z:-1.73 [[ 9.99553279e-01 2.80526550e-02 -1.03097093e-02 1.07926626e+01] [-2.79191978e-02 9.99527349e-01 1.28684663e-02 2.44001304e-01] [ 1.06658311e-02 -1.25748789e-02 9.99864047e-01 -1.73271370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29719347 meters Centerline goodness : 0.836350 Centerline is valid? [False, False] Translation: X:10.80, Y:0.25, Z:-1.73 [[ 9.99509768e-01 3.08762974e-02 -5.18436035e-03 1.07999409e+01] [-3.08493132e-02 9.99510486e-01 5.20665277e-03 2.52056085e-01] [ 5.34258469e-03 -5.04416634e-03 9.99973006e-01 -1.73276376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32719347 meters Centerline goodness : 0.839171 Centerline is valid? [False, False] Translation: X:10.80, Y:0.25, Z:-1.73 [[ 9.99516495e-01 3.06359513e-02 -5.31166321e-03 1.08000695e+01] [-3.06118212e-02 9.99520919e-01 4.56616532e-03 2.53522426e-01] [ 5.44900731e-03 -4.40135787e-03 9.99975468e-01 -1.73254622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35719347 meters Centerline goodness : 0.838269 Centerline is valid? [False, False] Translation: X:10.80, Y:0.25, Z:-1.73 [[ 9.99523820e-01 3.03741858e-02 -5.43522926e-03 1.08002925e+01] [-3.03518182e-02 9.99530656e-01 4.15154288e-03 2.54154968e-01] [ 5.55877800e-03 -3.98459691e-03 9.99976611e-01 -1.73251952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38719347 meters Centerline goodness : 0.838027 Centerline is valid? [False, False] Translation: X:10.81, Y:0.25, Z:-1.74 [[ 9.99634016e-01 2.70514886e-02 -2.27613129e-04 1.08103069e+01] [-2.70471819e-02 9.99570094e-01 1.13171142e-02 2.53321106e-01] [ 5.33660062e-04 -1.13068160e-02 9.99935934e-01 -1.73534238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41719347 meters Centerline goodness : 0.837778 Centerline is valid? [False, False] Translation: X:10.82, Y:0.25, Z:-1.74 [[ 9.99628100e-01 2.70309703e-02 3.60394807e-03 1.08209956e+01] [-2.71075844e-02 9.99362231e-01 2.32445710e-02 2.51493147e-01] [-2.97332628e-03 -2.33336207e-02 9.99723312e-01 -1.73851676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44719347 meters Centerline goodness : 0.839466 Centerline is valid? [False, False] Translation: X:10.82, Y:0.25, Z:-1.74 [[ 9.99598048e-01 2.82176456e-02 2.73993320e-03 1.08241073e+01] [-2.82758266e-02 9.99306485e-01 2.42286335e-02 2.52142588e-01] [-2.05435802e-03 -2.42963686e-02 9.99702689e-01 -1.74032834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47719347 meters Centerline goodness : 0.839466 Centerline is valid? [False, False] Translation: X:10.82, Y:0.25, Z:-1.74 [[ 9.99598034e-01 2.82180738e-02 2.74047764e-03 1.08241065e+01] [-2.82762684e-02 9.99306466e-01 2.42288989e-02 2.52142413e-01] [-2.05488417e-03 -2.42966502e-02 9.99702681e-01 -1.74032826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50719347 meters Centerline goodness : 0.837457 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99556355e-01 2.97290377e-02 1.81033379e-03 1.08275463e+01] [-2.97652723e-02 9.99238568e-01 2.52252495e-02 2.52865749e-01] [-1.05903295e-03 -2.52679435e-02 9.99680154e-01 -1.74243100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53719347 meters Centerline goodness : 0.835853 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99467883e-01 3.26023907e-02 1.01687154e-03 1.08310042e+01] [-3.26179839e-02 9.99098819e-01 2.71590894e-02 2.51727194e-01] [-1.30503914e-04 -2.71778059e-02 9.99630607e-01 -1.74447614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56719347 meters Centerline goodness : 0.836499 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.75 [[ 9.99444023e-01 3.33340052e-02 6.99063581e-04 1.08320605e+01] [-3.33405772e-02 9.99060298e-01 2.76934316e-02 2.50497975e-01] [ 2.24726322e-04 -2.77013419e-02 9.99616219e-01 -1.74504422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59719347 meters Centerline goodness : 0.836157 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.75 [[ 9.99527929e-01 3.07211884e-02 3.56590138e-04 1.08330180e+01] [-3.07208403e-02 9.99236358e-01 2.41439683e-02 2.50998078e-01] [ 3.85413568e-04 -2.41435254e-02 9.99708428e-01 -1.74532064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62719347 meters Centerline goodness : 0.838660 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.75 [[ 9.99610342e-01 2.79134650e-02 -4.52726161e-05 1.08339413e+01] [-2.79066957e-02 9.99401112e-01 2.04605157e-02 2.52222003e-01] [ 6.16369390e-04 -2.04512796e-02 9.99790661e-01 -1.74541841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65719347 meters Centerline goodness : 0.836410 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99608628e-01 2.79748189e-02 2.79856337e-05 1.08333225e+01] [-2.79695100e-02 9.99398415e-01 2.05064616e-02 2.52410583e-01] [ 5.45695750e-04 -2.04992186e-02 9.99789720e-01 -1.74441635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68719347 meters Centerline goodness : 0.835009 Centerline is valid? [False, False] Translation: X:10.83, Y:0.25, Z:-1.74 [[ 9.99601021e-01 2.82425197e-02 -3.99546086e-04 1.08345190e+01] [-2.82281127e-02 9.99385247e-01 2.07918736e-02 2.51795908e-01] [ 9.86515366e-04 -2.07722997e-02 9.99783746e-01 -1.74493504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71719347 meters Centerline goodness : 0.835194 Centerline is valid? [False, False] Translation: X:10.86, Y:0.25, Z:-1.75 [[ 9.99670528e-01 2.54737387e-02 -3.15020242e-03 1.08568095e+01] [-2.54043102e-02 9.99469033e-01 2.04027536e-02 2.51772343e-01] [ 3.66826418e-03 -2.03160027e-02 9.99786879e-01 -1.74635851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74719347 meters Centerline goodness : 0.833372 Centerline is valid? [False, False] Translation: X:10.86, Y:0.25, Z:-1.75 [[ 9.99713820e-01 2.35927818e-02 -3.95706838e-03 1.08600006e+01] [-2.35186249e-02 9.99564161e-01 1.78426884e-02 2.51701952e-01] [ 4.37630239e-03 -1.77445173e-02 9.99832976e-01 -1.74856038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77719347 meters Centerline goodness : 0.829299 Centerline is valid? [False, False] Translation: X:10.88, Y:0.25, Z:-1.75 [[ 9.99726542e-01 2.21683636e-02 -7.44341204e-03 1.08839834e+01] [-2.20226755e-02 9.99574715e-01 1.91152123e-02 2.49037103e-01] [ 7.86399944e-03 -1.89460612e-02 9.99789580e-01 -1.75197806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80719347 meters Centerline goodness : 0.831042 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99711278e-01 2.27325975e-02 -7.78396596e-03 1.08851509e+01] [-2.25760075e-02 9.99552074e-01 1.96462461e-02 2.47868800e-01] [ 8.22708953e-03 -1.94648429e-02 9.99776693e-01 -1.75262698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83719347 meters Centerline goodness : 0.830734 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99768588e-01 1.99081850e-02 -8.15079653e-03 1.08860050e+01] [-1.97752368e-02 9.99675149e-01 1.60790750e-02 2.48857310e-01] [ 8.46825394e-03 -1.59141701e-02 9.99837501e-01 -1.75267247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86719347 meters Centerline goodness : 0.830517 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99812118e-01 1.74243859e-02 -8.49237306e-03 1.08865276e+01] [-1.73093738e-02 9.99759936e-01 1.34333782e-02 2.46822790e-01] [ 8.72440271e-03 -1.32838566e-02 9.99873704e-01 -1.75220333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89719347 meters Centerline goodness : 0.830926 Centerline is valid? [False, False] Translation: X:10.89, Y:0.25, Z:-1.75 [[ 9.99836143e-01 1.55757763e-02 -9.22405853e-03 1.08889806e+01] [-1.54694513e-02 9.99814341e-01 1.14882202e-02 2.45082702e-01] [ 9.40128395e-03 -1.13436466e-02 9.99891463e-01 -1.75337361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92719347 meters Centerline goodness : 0.830060 Centerline is valid? [False, False] Translation: X:10.89, Y:0.24, Z:-1.75 [[ 9.99876175e-01 1.25341572e-02 -9.51472492e-03 1.08892739e+01] [-1.24550694e-02 9.99887765e-01 8.32639056e-03 2.43404339e-01] [ 9.61802132e-03 -8.20685298e-03 9.99920067e-01 -1.75291950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95719347 meters Centerline goodness : 0.829059 Centerline is valid? [False, False] Translation: X:10.90, Y:0.23, Z:-1.76 [[ 9.99943461e-01 1.00587313e-02 -3.44905675e-03 1.09008205e+01] [-1.00084360e-02 9.99847630e-01 1.43020194e-02 2.33233415e-01] [ 3.59239139e-03 -1.42666911e-02 9.99891772e-01 -1.75514362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98719347 meters Centerline goodness : 0.829517 Centerline is valid? [False, False] Translation: X:10.90, Y:0.23, Z:-1.76 [[ 9.99963487e-01 7.59995817e-03 -3.90703691e-03 1.09022144e+01] [-7.55159806e-03 9.99896488e-01 1.22469162e-02 2.29493073e-01] [ 3.99970854e-03 -1.22169647e-02 9.99917371e-01 -1.75571765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01719347 meters Centerline goodness : 0.830555 Centerline is valid? [False, False] Translation: X:10.91, Y:0.22, Z:-1.76 [[ 9.99985771e-01 5.10908443e-03 1.53486915e-03 1.09138750e+01] [-5.13798334e-03 9.99797540e-01 1.94545523e-02 2.23290967e-01] [-1.43516345e-03 -1.94621616e-02 9.99809564e-01 -1.75952233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04719347 meters Centerline goodness : 0.828969 Centerline is valid? [False, False] Translation: X:10.91, Y:0.22, Z:-1.76 [[ 9.99996867e-01 2.22121919e-03 1.15454753e-03 1.09149441e+01] [-2.24050838e-03 9.99853262e-01 1.69833732e-02 2.19617963e-01] [-1.11665432e-03 -1.69859067e-02 9.99855106e-01 -1.75990620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07719347 meters Centerline goodness : 0.824742 Centerline is valid? [False, False] Translation: X:10.94, Y:0.21, Z:-1.76 [[ 9.99998339e-01 4.96379094e-04 1.75366214e-03 1.09362727e+01] [-5.31853467e-04 9.99794066e-01 2.02865252e-02 2.08197895e-01] [-1.74323120e-03 -2.02874242e-02 9.99792669e-01 -1.76242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10719347 meters Centerline goodness : 0.824735 Centerline is valid? [False, False] Translation: X:10.94, Y:0.20, Z:-1.76 [[ 9.99998581e-01 -1.35133508e-03 1.00564269e-03 1.09384414e+01] [ 1.33223604e-03 9.99823200e-01 1.87561749e-02 2.03736111e-01] [-1.03081077e-03 -1.87548085e-02 9.99823582e-01 -1.76316764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13719347 meters Centerline goodness : 0.825516 Centerline is valid? [False, False] Translation: X:10.94, Y:0.20, Z:-1.76 [[ 9.99995141e-01 -3.09355508e-03 3.83505703e-04 1.09404892e+01] [ 3.08654700e-03 9.99849096e-01 1.70955722e-02 2.00002523e-01] [-4.36333924e-04 -1.70943054e-02 9.99853786e-01 -1.76404863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16719347 meters Centerline goodness : 0.820623 Centerline is valid? [False, False] Translation: X:10.94, Y:0.19, Z:-1.77 [[ 9.99999922e-01 -9.56122422e-05 -3.83322039e-04 1.09433578e+01] [ 1.03641535e-04 9.99779437e-01 2.10015924e-02 1.89852261e-01] [ 3.81229483e-04 -2.10016305e-02 9.99779369e-01 -1.76537891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19719347 meters Centerline goodness : 0.821684 Centerline is valid? [False, False] Translation: X:10.95, Y:0.19, Z:-1.77 [[ 9.99999001e-01 -7.74826636e-04 -1.18256446e-03 1.09466008e+01] [ 7.98861721e-04 9.99790328e-01 2.04612495e-02 1.85575213e-01] [ 1.16646258e-03 -2.04621738e-02 9.99789947e-01 -1.76736345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22719347 meters Centerline goodness : 0.819682 Centerline is valid? [False, False] Translation: X:10.95, Y:0.18, Z:-1.77 [[ 9.99995974e-01 -2.01684582e-03 -1.99611473e-03 1.09497235e+01] [ 2.05559582e-03 9.99805693e-01 1.96048901e-02 1.80428448e-01] [ 1.95618683e-03 -1.96089144e-02 9.99805813e-01 -1.76918075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25719347 meters Centerline goodness : 0.820302 Centerline is valid? [False, False] Translation: X:10.97, Y:0.17, Z:-1.77 [[ 9.99985642e-01 -5.35841810e-03 -5.06627531e-05 1.09692798e+01] [ 5.35822899e-03 9.99741394e-01 2.21005376e-02 1.65250209e-01] [-6.77742691e-05 -2.21004917e-02 9.99755752e-01 -1.77209806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28719347 meters Centerline goodness : 0.818815 Centerline is valid? [False, False] Translation: X:10.97, Y:0.16, Z:-1.77 [[ 9.99965493e-01 -8.29715673e-03 -4.13434031e-04 1.09707293e+01] [ 8.30387722e-03 9.99756353e-01 2.04519116e-02 1.58843157e-01] [ 2.43640583e-04 -2.04546390e-02 9.99790752e-01 -1.77272381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31719347 meters Centerline goodness : 0.820258 Centerline is valid? [False, False] Translation: X:10.99, Y:0.15, Z:-1.77 [[ 9.99927751e-01 -1.18472824e-02 2.03357512e-03 1.09888131e+01] [ 1.17990361e-02 9.99681899e-01 2.22908837e-02 1.51774023e-01] [-2.29701463e-03 -2.22652790e-02 9.99749459e-01 -1.77421688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34719347 meters Centerline goodness : 0.819168 Centerline is valid? [False, False] Translation: X:11.01, Y:0.13, Z:-1.77 [[ 9.99738608e-01 -2.23880129e-02 4.63602457e-03 1.10099014e+01] [ 2.22113405e-02 9.99134150e-01 3.51796302e-02 1.34504886e-01] [-5.41961249e-03 -3.50674622e-02 9.99370252e-01 -1.77442811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37719347 meters Centerline goodness : 0.818271 Centerline is valid? [False, False] Translation: X:11.03, Y:0.13, Z:-1.78 [[ 9.99613068e-01 -2.67803346e-02 7.51853327e-03 1.10282510e+01] [ 2.64929717e-02 9.98999791e-01 3.60213754e-02 1.25952807e-01] [-8.47567765e-03 -3.58082493e-02 9.99322737e-01 -1.77632462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40719347 meters Centerline goodness : 0.817798 Centerline is valid? [False, False] Translation: X:11.03, Y:0.12, Z:-1.78 [[ 9.99431965e-01 -3.29243943e-02 7.19253345e-03 1.10303036e+01] [ 3.26870948e-02 9.98986753e-01 3.09357480e-02 1.20225344e-01] [-8.20378640e-03 -3.06830724e-02 9.99495496e-01 -1.77709266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43719347 meters Centerline goodness : 0.818435 Centerline is valid? [False, False] Translation: X:11.03, Y:0.11, Z:-1.78 [[ 9.99327185e-01 -3.60065854e-02 6.97883179e-03 1.10314976e+01] [ 3.57852394e-02 9.98921046e-01 2.95999933e-02 1.14012209e-01] [-8.03709664e-03 -2.93303388e-02 9.99537461e-01 -1.77700330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46719347 meters Centerline goodness : 0.818209 Centerline is valid? [False, False] Translation: X:11.03, Y:0.11, Z:-1.78 [[ 9.99105836e-01 -4.16947928e-02 7.00521817e-03 1.10318546e+01] [ 4.14986103e-02 9.98796573e-01 2.61394461e-02 1.05122541e-01] [-8.08666669e-03 -2.58253663e-02 9.99633761e-01 -1.77578506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49719347 meters Centerline goodness : 0.818736 Centerline is valid? [False, False] Translation: X:11.03, Y:0.10, Z:-1.78 [[ 9.98947125e-01 -4.53475074e-02 6.94587369e-03 1.10324615e+01] [ 4.51743066e-02 9.98706465e-01 2.33383387e-02 1.01713076e-01] [-7.99522445e-03 -2.29999914e-02 9.99703494e-01 -1.77562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52719347 meters Centerline goodness : 0.820416 Centerline is valid? [False, False] Translation: X:11.03, Y:0.10, Z:-1.78 [[ 9.98924234e-01 -4.59024418e-02 6.58341112e-03 1.10332189e+01] [ 4.57274600e-02 9.98650051e-01 2.46388814e-02 9.62513554e-02] [-7.70550867e-03 -2.43113330e-02 9.99674739e-01 -1.77519185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55719347 meters Centerline goodness : 0.819941 Centerline is valid? [False, False] Translation: X:11.03, Y:0.09, Z:-1.78 [[ 9.98747371e-01 -4.96038925e-02 6.56824093e-03 1.10341384e+01] [ 4.94502835e-02 9.98539002e-01 2.17837088e-02 9.24996532e-02] [-7.63920150e-03 -2.14316205e-02 9.99741131e-01 -1.77572245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58719347 meters Centerline goodness : 0.819675 Centerline is valid? [False, False] Translation: X:11.04, Y:0.09, Z:-1.78 [[ 9.98402431e-01 -5.61520697e-02 6.28739799e-03 1.10370912e+01] [ 5.60415542e-02 9.98291169e-01 1.65555460e-02 8.50817491e-02] [-7.20628206e-03 -1.61767418e-02 9.99843179e-01 -1.77754950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61719347 meters Centerline goodness : 0.821107 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98240779e-01 -5.89863320e-02 5.99664422e-03 1.10390584e+01] [ 5.88973723e-02 9.98164979e-01 1.40632115e-02 8.22572282e-02] [-6.81517751e-03 -1.36852846e-02 9.99883126e-01 -1.77874279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64719347 meters Centerline goodness : 0.823283 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98159139e-01 -6.03954672e-02 5.54260396e-03 1.10415532e+01] [ 6.03195925e-02 9.98094921e-01 1.29643978e-02 8.02448380e-02] [-6.31503573e-03 -1.26062046e-02 9.99900597e-01 -1.78047130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67719347 meters Centerline goodness : 0.822182 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98175168e-01 -6.01225797e-02 5.62229518e-03 1.10416260e+01] [ 6.00421041e-02 9.98104168e-01 1.35282991e-02 7.89062636e-02] [-6.42499250e-03 -1.31660378e-02 9.99892682e-01 -1.78054713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70719347 meters Centerline goodness : 0.825113 Centerline is valid? [False, False] Translation: X:11.04, Y:0.08, Z:-1.78 [[ 9.98184254e-01 -5.99941127e-02 5.37598843e-03 1.10422793e+01] [ 5.99168855e-02 9.98111680e-01 1.35292441e-02 7.95459925e-02] [-6.17751184e-03 -1.31825660e-02 9.99894024e-01 -1.78075052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73719347 meters Centerline goodness : 0.826111 Centerline is valid? [False, False] Translation: X:11.06, Y:0.08, Z:-1.78 [[ 9.98273355e-01 -5.81540141e-02 8.27164743e-03 1.10553825e+01] [ 5.81091262e-02 9.98294712e-01 5.56750197e-03 8.22101069e-02] [-8.58131448e-03 -5.07723067e-03 9.99950290e-01 -1.78489503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76719347 meters Centerline goodness : 0.828748 Centerline is valid? [False, False] Translation: X:11.06, Y:0.08, Z:-1.79 [[ 9.98195435e-01 -5.95514449e-02 7.71361855e-03 1.10587003e+01] [ 5.95229498e-02 9.98219425e-01 3.87267124e-03 8.37254317e-02] [-7.93050705e-03 -3.40654542e-03 9.99962751e-01 -1.78770916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79719347 meters Centerline goodness : 0.828471 Centerline is valid? [False, False] Translation: X:11.07, Y:0.09, Z:-1.79 [[ 9.98208310e-01 -5.90441384e-02 9.69331393e-03 1.10701168e+01] [ 5.91041034e-02 9.98233668e-01 -6.02066669e-03 8.51304544e-02] [-9.32070725e-03 6.58279415e-03 9.99934893e-01 -1.78979601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82719347 meters Centerline goodness : 0.830277 Centerline is valid? [False, False] Translation: X:11.07, Y:0.09, Z:-1.79 [[ 9.98100301e-01 -6.09044692e-02 9.29699770e-03 1.10725639e+01] [ 6.09783308e-02 9.98107991e-01 -7.87920618e-03 8.59248123e-02] [-8.79952883e-03 8.43115346e-03 9.99925739e-01 -1.79173315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85719347 meters Centerline goodness : 0.831501 Centerline is valid? [False, False] Translation: X:11.07, Y:0.09, Z:-1.79 [[ 9.98006916e-01 -6.24759792e-02 8.88522581e-03 1.10745568e+01] [ 6.25592038e-02 9.97996808e-01 -9.41903330e-03 8.74620207e-02] [-8.27896367e-03 9.95611303e-03 9.99916164e-01 -1.79316102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88719347 meters Centerline goodness : 0.832547 Centerline is valid? [False, False] Translation: X:11.08, Y:0.09, Z:-1.79 [[ 9.97842505e-01 -6.51070117e-02 8.45062658e-03 1.10767277e+01] [ 6.52075468e-02 9.97796863e-01 -1.22227395e-02 9.30376279e-02] [-7.63622265e-03 1.27474137e-02 9.99889590e-01 -1.79471068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91719347 meters Centerline goodness : 0.836208 Centerline is valid? [False, False] Translation: X:11.08, Y:0.09, Z:-1.79 [[ 9.97795067e-01 -6.58475668e-02 8.31282456e-03 1.10769398e+01] [ 6.59518785e-02 9.97738527e-01 -1.29684799e-02 9.46987312e-02] [-7.44008249e-03 1.34881317e-02 9.99881351e-01 -1.79456033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94719347 meters Centerline goodness : 0.837356 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.79 [[ 9.97764125e-01 -6.63211809e-02 8.26143263e-03 1.10772235e+01] [ 6.64277198e-02 9.97701681e-01 -1.33684011e-02 9.52559871e-02] [-7.35583708e-03 1.38872992e-02 9.99876510e-01 -1.79473766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97719347 meters Centerline goodness : 0.838811 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97537766e-01 -6.96638358e-02 8.08428018e-03 1.10794977e+01] [ 6.97915293e-02 9.97420711e-01 -1.67650837e-02 9.76578081e-02] [-6.89550844e-03 1.72880185e-02 9.99826773e-01 -1.79669249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00719347 meters Centerline goodness : 0.837431 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97492852e-01 -7.02927968e-02 8.18126159e-03 1.10793122e+01] [ 7.04270845e-02 9.97363721e-01 -1.74824026e-02 9.89922756e-02] [-6.93080653e-03 1.80147540e-02 9.99813699e-01 -1.79654212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03719347 meters Centerline goodness : 0.838490 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97684620e-01 -6.75280617e-02 8.08459081e-03 1.10789054e+01] [ 6.76373587e-02 9.97610199e-01 -1.41094850e-02 9.91039503e-02] [-7.11248407e-03 1.46236366e-02 9.99867772e-01 -1.79630875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06719347 meters Centerline goodness : 0.841981 Centerline is valid? [False, False] Translation: X:11.08, Y:0.10, Z:-1.80 [[ 9.97831295e-01 -6.53067773e-02 8.22993094e-03 1.10782206e+01] [ 6.54056974e-02 9.97781886e-01 -1.23855553e-02 1.04899205e-01] [-7.40281532e-03 1.28969790e-02 9.99889427e-01 -1.79606182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09719347 meters Centerline goodness : 0.842175 Centerline is valid? [False, False] Translation: X:11.08, Y:0.11, Z:-1.80 [[ 9.98044115e-01 -6.20062390e-02 7.94805500e-03 1.10783807e+01] [ 6.20792514e-02 9.98027946e-01 -9.29437223e-03 1.07431296e-01] [-7.35607194e-03 9.76960281e-03 9.99925219e-01 -1.79620140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12719347 meters Centerline goodness : 0.843750 Centerline is valid? [False, False] Translation: X:11.08, Y:0.11, Z:-1.80 [[ 9.98251877e-01 -5.86145897e-02 7.58419107e-03 1.10788365e+01] [ 5.86627266e-02 9.98258055e-01 -6.28816458e-03 1.10197268e-01] [-7.20240163e-03 6.72208142e-03 9.99951468e-01 -1.79645437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15719347 meters Centerline goodness : 0.843735 Centerline is valid? [False, False] Translation: X:11.08, Y:0.11, Z:-1.80 [[ 9.98456773e-01 -5.50319132e-02 7.45396642e-03 1.10785767e+01] [ 5.50571780e-02 9.98477987e-01 -3.22759887e-03 1.12747885e-01] [-7.26500044e-03 3.63301230e-03 9.99967010e-01 -1.79628238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18719347 meters Centerline goodness : 0.847409 Centerline is valid? [False, False] Translation: X:11.08, Y:0.12, Z:-1.80 [[ 9.98658756e-01 -5.11917331e-02 7.75216500e-03 1.10770955e+01] [ 5.12062561e-02 9.98686675e-01 -1.68653056e-03 1.20206160e-01] [-7.65564746e-03 2.08122786e-03 9.99968529e-01 -1.79505436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21719347 meters Centerline goodness : 0.848839 Centerline is valid? [False, False] Translation: X:11.08, Y:0.12, Z:-1.80 [[ 9.98831441e-01 -4.77417427e-02 7.51517787e-03 1.10771371e+01] [ 4.77340856e-02 9.98859364e-01 1.19506915e-03 1.23531106e-01] [-7.56366047e-03 -8.34942497e-04 9.99971047e-01 -1.79502470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24719347 meters Centerline goodness : 0.851000 Centerline is valid? [False, False] Translation: X:11.08, Y:0.13, Z:-1.80 [[ 9.98977526e-01 -4.45927239e-02 7.44257196e-03 1.10770007e+01] [ 4.45648333e-02 9.98998990e-01 3.87221092e-03 1.27481968e-01] [-7.60779431e-03 -3.53657470e-03 9.99964806e-01 -1.79515754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27719347 meters Centerline goodness : 0.851193 Centerline is valid? [False, False] Translation: X:11.08, Y:0.13, Z:-1.80 [[ 9.98947169e-01 -4.53089857e-02 7.18678629e-03 1.10778092e+01] [ 4.52947493e-02 9.98971392e-01 2.13153875e-03 1.33684802e-01] [-7.27597177e-03 -1.80377091e-03 9.99971903e-01 -1.79577514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30719347 meters Centerline goodness : 0.853677 Centerline is valid? [False, False] Translation: X:11.08, Y:0.14, Z:-1.80 [[ 9.98880159e-01 -4.69113485e-02 6.14435350e-03 1.10817528e+01] [ 4.69108053e-02 9.98899055e-01 2.32570730e-04 1.41911645e-01] [-6.14849911e-03 5.59262823e-05 9.99981096e-01 -1.79871797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33719347 meters Centerline goodness : 0.852410 Centerline is valid? [False, False] Translation: X:11.09, Y:0.15, Z:-1.80 [[ 9.98760700e-01 -4.94931431e-02 5.24332250e-03 1.10853581e+01] [ 4.95072151e-02 9.98770411e-01 -2.58880592e-03 1.45417094e-01] [-5.10874722e-03 2.84517991e-03 9.99982903e-01 -1.80117861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36719347 meters Centerline goodness : 0.852410 Centerline is valid? [False, False] Translation: X:11.09, Y:0.15, Z:-1.80 [[ 9.98760700e-01 -4.94931431e-02 5.24332250e-03 1.10853581e+01] [ 4.95072151e-02 9.98770411e-01 -2.58880592e-03 1.45417094e-01] [-5.10874722e-03 2.84517991e-03 9.99982903e-01 -1.80117861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39719347 meters Centerline goodness : 0.851298 Centerline is valid? [False, False] Translation: X:11.09, Y:0.15, Z:-1.80 [[ 9.98697160e-01 -5.08010745e-02 4.82009671e-03 1.10869125e+01] [ 5.08205611e-02 9.98699749e-01 -4.01022464e-03 1.47939130e-01] [-4.61010566e-03 4.24995998e-03 9.99980342e-01 -1.80226722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42719347 meters Centerline goodness : 0.853955 Centerline is valid? [False, False] Translation: X:11.09, Y:0.16, Z:-1.80 [[ 9.98555146e-01 -5.35568119e-02 4.39177458e-03 1.10889640e+01] [ 5.35897978e-02 9.98532783e-01 -7.77270775e-03 1.56070266e-01] [-3.96904945e-03 7.99683164e-03 9.99960148e-01 -1.80385718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45719347 meters Centerline goodness : 0.856210 Centerline is valid? [False, False] Translation: X:11.09, Y:0.16, Z:-1.80 [[ 9.98697543e-01 -5.08776329e-02 3.83200452e-03 1.10901601e+01] [ 5.08970279e-02 9.98690647e-01 -5.14629214e-03 1.58981849e-01] [-3.56515591e-03 5.33462696e-03 9.99979415e-01 -1.80466443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48719347 meters Centerline goodness : 0.853153 Centerline is valid? [False, False] Translation: X:11.09, Y:0.16, Z:-1.81 [[ 9.98832711e-01 -4.81969626e-02 3.20426111e-03 1.10917600e+01] [ 4.82061197e-02 9.98833358e-01 -2.84472017e-03 1.62969483e-01] [-3.06341602e-03 2.99586456e-03 9.99990820e-01 -1.80588543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51719347 meters Centerline goodness : 0.855109 Centerline is valid? [False, False] Translation: X:11.09, Y:0.17, Z:-1.81 [[ 9.99031862e-01 -4.39393419e-02 2.16165840e-03 1.10942663e+01] [ 4.39386687e-02 9.99034166e-01 3.57991933e-04 1.73046879e-01] [-2.17530053e-03 -2.62664955e-04 9.99997600e-01 -1.80786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54719347 meters Centerline goodness : 0.855844 Centerline is valid? [False, False] Translation: X:11.10, Y:0.18, Z:-1.81 [[ 9.99156515e-01 -4.10380352e-02 1.46229847e-03 1.10952745e+01] [ 4.10341682e-02 9.99154405e-01 2.58304771e-03 1.77160338e-01] [-1.56706516e-03 -2.52086475e-03 9.99995595e-01 -1.80819175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57719347 meters Centerline goodness : 0.855156 Centerline is valid? [False, False] Translation: X:11.10, Y:0.18, Z:-1.81 [[ 9.99274391e-01 -3.80744985e-02 1.01198948e-03 1.10957674e+01] [ 3.80687687e-02 9.99261695e-01 5.18017850e-03 1.79586146e-01] [-1.20847502e-03 -5.13789453e-03 9.99986071e-01 -1.80833403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60719347 meters Centerline goodness : 0.851204 Centerline is valid? [False, False] Translation: X:11.10, Y:0.18, Z:-1.81 [[ 9.99295784e-01 -3.75217160e-02 2.36926380e-04 1.10979530e+01] [ 3.75202475e-02 9.99285465e-01 4.55966316e-03 1.83289387e-01] [-4.07843474e-04 -4.54756264e-03 9.99989577e-01 -1.80976752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63719347 meters Centerline goodness : 0.854920 Centerline is valid? [False, False] Translation: X:11.10, Y:0.19, Z:-1.81 [[ 9.99402503e-01 -3.45625510e-02 -2.58798562e-04 1.10982236e+01] [ 3.45634195e-02 9.99389633e-01 5.07267153e-03 1.92378470e-01] [ 8.33161320e-05 -5.07858558e-03 9.99987100e-01 -1.80997861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66719347 meters Centerline goodness : 0.856974 Centerline is valid? [False, False] Translation: X:11.10, Y:0.20, Z:-1.81 [[ 9.99497159e-01 -3.16883680e-02 -1.13023042e-03 1.10992595e+01] [ 3.16959120e-02 9.99469899e-01 7.43573642e-03 1.96219270e-01] [ 8.94004928e-04 -7.46782111e-03 9.99971716e-01 -1.80974861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69719347 meters Centerline goodness : 0.854325 Centerline is valid? [False, False] Translation: X:11.10, Y:0.20, Z:-1.81 [[ 9.99580447e-01 -2.89177904e-02 -1.64028298e-03 1.10994623e+01] [ 2.89323029e-02 9.99534806e-01 9.64849096e-03 2.00262212e-01] [ 1.36050689e-03 -9.69190007e-03 9.99952107e-01 -1.80928581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72719347 meters Centerline goodness : 0.856842 Centerline is valid? [False, False] Translation: X:11.10, Y:0.20, Z:-1.81 [[ 9.99663983e-01 -2.58039838e-02 -2.46498689e-03 1.11003183e+01] [ 2.58323669e-02 9.99590917e-01 1.22755054e-02 2.04050525e-01] [ 2.14722157e-03 -1.23350570e-02 9.99921615e-01 -1.80884990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75719347 meters Centerline goodness : 0.853633 Centerline is valid? [False, False] Translation: X:11.10, Y:0.21, Z:-1.81 [[ 9.99804550e-01 -1.96032350e-02 -2.56398265e-03 1.11002867e+01] [ 1.96435349e-02 9.99666376e-01 1.67710492e-02 2.12090260e-01] [ 2.23436042e-03 -1.68181370e-02 9.99856069e-01 -1.80877646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78719347 meters Centerline goodness : 0.855051 Centerline is valid? [False, False] Translation: X:11.10, Y:0.22, Z:-1.81 [[ 9.99866249e-01 -1.60769342e-02 -3.00283986e-03 1.11012111e+01] [ 1.61320081e-02 9.99683237e-01 1.93179743e-02 2.16180911e-01] [ 2.69131487e-03 -1.93638323e-02 9.99808881e-01 -1.80910267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81719347 meters Centerline goodness : 0.854950 Centerline is valid? [False, False] Translation: X:11.09, Y:0.22, Z:-1.81 [[ 9.99918891e-01 -9.78561463e-03 -8.15184367e-03 1.10902470e+01] [ 9.90235837e-03 9.99847193e-01 1.44060512e-02 2.22054176e-01] [ 8.00962594e-03 -1.44856052e-02 9.99862997e-01 -1.80554844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84719347 meters Centerline goodness : 0.854221 Centerline is valid? [False, False] Translation: X:11.09, Y:0.23, Z:-1.80 [[ 9.99991399e-01 1.17141129e-03 -3.97854358e-03 1.10896730e+01] [-1.14142411e-03 9.99970989e-01 7.53115126e-03 2.33217558e-01] [ 3.98725024e-03 -7.52654528e-03 9.99963726e-01 -1.80482949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87719347 meters Centerline goodness : 0.853073 Centerline is valid? [False, False] Translation: X:11.09, Y:0.24, Z:-1.80 [[ 9.99974855e-01 5.64033032e-03 -4.29829190e-03 1.10901268e+01] [-5.59399250e-03 9.99926920e-01 1.07173481e-02 2.36784083e-01] [ 4.35842717e-03 -1.06930341e-02 9.99933329e-01 -1.80437329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90719347 meters Centerline goodness : 0.854760 Centerline is valid? [False, False] Translation: X:11.09, Y:0.24, Z:-1.80 [[ 9.99945197e-01 9.55641821e-03 -4.27515751e-03 1.10894463e+01] [-9.49757580e-03 9.99862699e-01 1.35786324e-02 2.40237060e-01] [ 4.40433362e-03 -1.35372847e-02 9.99898667e-01 -1.80313974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93719347 meters Centerline goodness : 0.856544 Centerline is valid? [False, False] Translation: X:11.09, Y:0.24, Z:-1.80 [[ 9.99898519e-01 1.35766925e-02 -4.31562871e-03 1.10890863e+01] [-1.35024181e-02 9.99767739e-01 1.67973859e-02 2.43062347e-01] [ 4.54267931e-03 -1.67374099e-02 9.99849600e-01 -1.80224288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96719347 meters Centerline goodness : 0.855707 Centerline is valid? [False, False] Translation: X:11.09, Y:0.25, Z:-1.80 [[ 9.99731344e-01 2.26837301e-02 -4.76311605e-03 1.10913394e+01] [-2.25587911e-02 9.99437298e-01 2.48231208e-02 2.46417811e-01] [ 5.32351681e-03 -2.47090018e-02 9.99680512e-01 -1.80362547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99719347 meters Centerline goodness : 0.855088 Centerline is valid? [False, False] Translation: X:11.09, Y:0.25, Z:-1.81 [[ 9.99683807e-01 2.45202074e-02 -5.57185161e-03 1.10948185e+01] [-2.43678897e-02 9.99366652e-01 2.59326289e-02 2.47683621e-01] [ 6.20419613e-03 -2.57886549e-02 9.99648165e-01 -1.80603652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02719347 meters Centerline goodness : 0.851746 Centerline is valid? [False, False] Translation: X:11.10, Y:0.25, Z:-1.81 [[ 9.99652792e-01 2.56326586e-02 -6.10420850e-03 1.10971866e+01] [-2.54606110e-02 9.99317411e-01 2.67669613e-02 2.47240287e-01] [ 6.78615021e-03 -2.66022507e-02 9.99623063e-01 -1.80781845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05719347 meters Centerline goodness : 0.855107 Centerline is valid? [False, False] Translation: X:11.10, Y:0.25, Z:-1.81 [[ 9.99630128e-01 2.64123475e-02 -6.48033084e-03 1.10988138e+01] [-2.62235070e-02 9.99272972e-01 2.76741007e-02 2.45325648e-01] [ 7.20655742e-03 -2.74939278e-02 9.99595993e-01 -1.80903893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08719347 meters Centerline goodness : 0.853507 Centerline is valid? [False, False] Translation: X:11.10, Y:0.24, Z:-1.81 [[ 9.99637981e-01 2.58402135e-02 -7.49600782e-03 1.11031744e+01] [-2.56281132e-02 9.99303307e-01 2.71311718e-02 2.40219493e-01] [ 8.19186068e-03 -2.69292413e-02 9.99603776e-01 -1.81199756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11719347 meters Centerline goodness : 0.852991 Centerline is valid? [False, False] Translation: X:11.10, Y:0.24, Z:-1.81 [[ 9.99706997e-01 2.28759397e-02 -7.91276931e-03 1.11041495e+01] [-2.26815214e-02 9.99458355e-01 2.38441778e-02 2.39431524e-01] [ 8.45394138e-03 -2.36577177e-02 9.99684372e-01 -1.81229339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14719347 meters Centerline goodness : 0.851329 Centerline is valid? [False, False] Translation: X:11.11, Y:0.23, Z:-1.81 [[ 9.99741544e-01 2.11018149e-02 -8.45918950e-03 1.11055391e+01] [-2.09080413e-02 9.99530981e-01 2.23756919e-02 2.34792840e-01] [ 8.92738969e-03 -2.21930437e-02 9.99713844e-01 -1.81257977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17719347 meters Centerline goodness : 0.851786 Centerline is valid? [False, False] Translation: X:11.11, Y:0.23, Z:-1.81 [[ 9.99780537e-01 1.88336998e-02 -9.17441066e-03 1.11076542e+01] [-1.86422077e-02 9.99615442e-01 2.05289253e-02 2.31129814e-01] [ 9.55751818e-03 -2.03533887e-02 9.99747165e-01 -1.81359925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20719347 meters Centerline goodness : 0.855398 Centerline is valid? [False, False] Translation: X:11.11, Y:0.23, Z:-1.81 [[ 9.99831805e-01 1.56240418e-02 -9.60469112e-03 1.11086014e+01] [-1.54498203e-02 9.99719450e-01 1.79533924e-02 2.27202310e-01] [ 9.88250107e-03 -1.78019820e-02 9.99792691e-01 -1.81388201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23719347 meters Centerline goodness : 0.852322 Centerline is valid? [False, False] Translation: X:11.11, Y:0.22, Z:-1.82 [[ 9.99892062e-01 1.03816075e-02 -1.03964659e-02 1.11111278e+01] [-1.02472455e-02 9.99864351e-01 1.28947448e-02 2.23573927e-01] [ 1.05289238e-02 -1.27868178e-02 9.99862810e-01 -1.81505562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26719347 meters Centerline goodness : 0.854276 Centerline is valid? [False, False] Translation: X:11.13, Y:0.21, Z:-1.82 [[ 9.99976126e-01 2.49322734e-03 -6.44447873e-03 1.11267393e+01] [-2.40660108e-03 9.99907120e-01 1.34149154e-02 2.10830285e-01] [ 6.47732660e-03 -1.33990859e-02 9.99889248e-01 -1.81658903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29719347 meters Centerline goodness : 0.855269 Centerline is valid? [False, False] Translation: X:11.14, Y:0.20, Z:-1.82 [[ 9.99991771e-01 -4.00335415e-03 -6.56689534e-04 1.11376897e+01] [ 4.01388230e-03 9.99849098e-01 1.69017929e-02 2.03440356e-01] [ 5.88926575e-04 -1.69042897e-02 9.99856939e-01 -1.81932116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32719347 meters Centerline goodness : 0.856132 Centerline is valid? [False, False] Translation: X:11.15, Y:0.20, Z:-1.82 [[ 9.99954868e-01 -8.97902199e-03 3.10462475e-03 1.11539158e+01] [ 8.91758953e-03 9.99774638e-01 1.92652558e-02 1.95567382e-01] [-3.27690824e-03 -1.92367006e-02 9.99809587e-01 -1.82174723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35719347 meters Centerline goodness : 0.854751 Centerline is valid? [False, False] Translation: X:11.17, Y:0.19, Z:-1.83 [[ 9.99859822e-01 -1.44250099e-02 8.50026222e-03 1.11663944e+01] [ 1.42122220e-02 9.99596759e-01 2.45831712e-02 1.87674246e-01] [-8.85144706e-03 -2.44589175e-02 9.99661649e-01 -1.82623841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38719347 meters Centerline goodness : 0.852925 Centerline is valid? [False, False] Translation: X:11.18, Y:0.18, Z:-1.83 [[ 0.99974777 -0.01824732 0.01309324 11.17786405] [ 0.01780643 0.99929557 0.03303471 0.17967437] [-0.01368682 -0.03279323 0.99936844 -1.82961631] [ 0. 0. 0. 1. ]] SLAMing on 133.41719347 meters Centerline goodness : 0.856024 Centerline is valid? [False, False] Translation: X:11.18, Y:0.16, Z:-1.82 [[ 9.99613462e-01 -2.74812353e-02 4.20813789e-03 1.11840143e+01] [ 2.70132323e-02 9.95867488e-01 8.67077370e-02 1.58911410e-01] [-6.57358343e-03 -8.65605458e-02 9.96224904e-01 -1.81978042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44719347 meters Centerline goodness : 0.856022 Centerline is valid? [False, False] Translation: X:11.18, Y:0.16, Z:-1.82 [[ 9.99520941e-01 -3.06820036e-02 4.06241626e-03 1.11845566e+01] [ 3.02357194e-02 9.96044779e-01 8.35499773e-02 1.57947327e-01] [-6.60982921e-03 -8.33871218e-02 9.96495308e-01 -1.81968800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47719347 meters Centerline goodness : 0.858453 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99464959e-01 -3.24596543e-02 4.02068934e-03 1.11851235e+01] [ 3.20193876e-02 9.96097057e-01 8.22521195e-02 1.53175616e-01] [-6.67487219e-03 -8.20793713e-02 9.96603443e-01 -1.81929094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50719347 meters Centerline goodness : 0.854394 Centerline is valid? [False, False] Translation: X:11.18, Y:0.15, Z:-1.82 [[ 9.99378136e-01 -3.49472990e-02 4.69346012e-03 1.11841045e+01] [ 3.44668121e-02 9.96267071e-01 7.91451991e-02 1.52007804e-01] [-7.44185070e-03 -7.89342129e-02 9.96852050e-01 -1.81915913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53719347 meters Centerline goodness : 0.858189 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99324344e-01 -3.65641186e-02 3.73099999e-03 1.11859967e+01] [ 3.61726464e-02 9.96420921e-01 7.63995279e-02 1.51660448e-01] [-6.51112784e-03 -7.62129480e-02 9.97070304e-01 -1.81928317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56719347 meters Centerline goodness : 0.859469 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99341502e-01 -3.61024222e-02 3.62996094e-03 1.11861234e+01] [ 3.57153753e-02 9.96381900e-01 7.71201751e-02 1.50407684e-01] [-6.40105250e-03 -7.69397462e-02 9.97015196e-01 -1.81895590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59719347 meters Centerline goodness : 0.864811 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99362953e-01 -3.54919482e-02 3.74294496e-03 1.11857590e+01] [ 3.50919881e-02 9.96331870e-01 7.80471525e-02 1.48527170e-01] [-6.49926085e-03 -7.78660855e-02 9.96942642e-01 -1.81831867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62719347 meters Centerline goodness : 0.862189 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.82 [[ 9.99371189e-01 -3.52782433e-02 3.55975190e-03 1.11862646e+01] [ 3.48917573e-02 9.96321040e-01 7.82748456e-02 1.47448044e-01] [-6.30805476e-03 -7.81014195e-02 9.96925462e-01 -1.81836801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65719347 meters Centerline goodness : 0.862020 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.81 [[ 9.99371122e-01 -3.54583545e-02 -2.54719734e-04 1.11930344e+01] [ 3.53839965e-02 9.96756116e-01 7.22856645e-02 1.49142997e-01] [-2.30923726e-03 -7.22492186e-02 9.97383937e-01 -1.81480951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68719347 meters Centerline goodness : 0.863218 Centerline is valid? [False, False] Translation: X:11.19, Y:0.15, Z:-1.81 [[ 9.99387559e-01 -3.49906043e-02 -4.05069464e-04 1.11933785e+01] [ 3.49273375e-02 9.96738352e-01 7.27512095e-02 1.48587233e-01] [-2.14186051e-03 -7.27208017e-02 9.97350038e-01 -1.81477336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71719347 meters Centerline goodness : 0.865491 Centerline is valid? [False, False] Translation: X:11.20, Y:0.15, Z:-1.82 [[ 9.99451740e-01 -3.30831049e-02 -1.31442897e-03 1.11956237e+01] [ 3.30888967e-02 9.96660902e-01 7.46469749e-02 1.45252909e-01] [-1.15951374e-03 -7.46495420e-02 9.97209156e-01 -1.81531389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74719347 meters Centerline goodness : 0.866041 Centerline is valid? [False, False] Translation: X:11.20, Y:0.15, Z:-1.81 [[ 9.99428325e-01 -3.34442950e-02 -4.94998749e-03 1.12028192e+01] [ 3.37036101e-02 9.97118276e-01 6.79647660e-02 1.45989141e-01] [ 2.66268931e-03 -6.80927447e-02 9.97675442e-01 -1.81215534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77719347 meters Centerline goodness : 0.859577 Centerline is valid? [False, False] Translation: X:11.20, Y:0.15, Z:-1.81 [[ 9.99362964e-01 -3.54422832e-02 -4.18451140e-03 1.12012549e+01] [ 3.56401249e-02 9.97225513e-01 6.53533358e-02 1.45272520e-01] [ 1.85663009e-03 -6.54608399e-02 9.97853412e-01 -1.81158739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80719347 meters Centerline goodness : 0.861144 Centerline is valid? [False, False] Translation: X:11.21, Y:0.14, Z:-1.81 [[ 9.99474442e-01 -3.23934965e-02 -1.22555906e-03 1.12067864e+01] [ 3.24109910e-02 9.97877112e-01 5.64871373e-02 1.44788573e-01] [-6.06858548e-04 -5.64971716e-02 9.98402575e-01 -1.81020110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83719347 meters Centerline goodness : 0.860246 Centerline is valid? [False, False] Translation: X:11.21, Y:0.14, Z:-1.81 [[ 9.99501147e-01 -3.15469508e-02 -1.49886958e-03 1.12062265e+01] [ 3.15804681e-02 9.97766112e-01 5.88681514e-02 1.42790034e-01] [-3.61589398e-04 -5.88861198e-02 9.98264641e-01 -1.80784718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86719347 meters Centerline goodness : 0.859860 Centerline is valid? [False, False] Translation: X:11.21, Y:0.14, Z:-1.80 [[ 9.99497831e-01 -3.12424220e-02 -5.29118794e-03 1.12142090e+01] [ 3.14767890e-02 9.98133911e-01 5.23250140e-02 1.42823291e-01] [ 3.64655394e-03 -5.24652876e-02 9.98616091e-01 -1.80420474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89719347 meters Centerline goodness : 0.857940 Centerline is valid? [False, False] Translation: X:11.22, Y:0.14, Z:-1.80 [[ 9.99430475e-01 -3.28910821e-02 -7.54339194e-03 1.12185421e+01] [ 3.32244256e-02 9.98225344e-01 4.94196411e-02 1.40867982e-01] [ 5.90453954e-03 -4.96421203e-02 9.98749616e-01 -1.80385471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92719347 meters Centerline goodness : 0.856512 Centerline is valid? [False, False] Translation: X:11.22, Y:0.13, Z:-1.80 [[ 9.99251448e-01 -3.80024409e-02 -7.23591417e-03 1.12185037e+01] [ 3.83011316e-02 9.98161661e-01 4.69714914e-02 1.33493166e-01] [ 5.43758078e-03 -4.72134745e-02 9.98870022e-01 -1.80246429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95719347 meters Centerline goodness : 0.857179 Centerline is valid? [False, False] Translation: X:11.23, Y:0.13, Z:-1.80 [[ 9.99021732e-01 -4.28040947e-02 -1.11080767e-02 1.12269475e+01] [ 4.31830955e-02 9.98401013e-01 3.64779042e-02 1.32556429e-01] [ 9.52891140e-03 -3.69219001e-02 9.99272722e-01 -1.79946689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98719347 meters Centerline goodness : 0.856406 Centerline is valid? [False, False] Translation: X:11.25, Y:0.12, Z:-1.78 [[ 0.99859526 -0.04989445 -0.0178342 11.25098337] [ 0.05122656 0.99512232 0.08430544 0.11731276] [ 0.01354084 -0.08510059 0.99628035 -1.78237551] [ 0. 0. 0. 1. ]] SLAMing on 134.01719347 meters Centerline goodness : 0.855685 Centerline is valid? [False, False] Translation: X:11.25, Y:0.11, Z:-1.78 [[ 0.99817707 -0.05771999 -0.01763332 11.2515352 ] [ 0.05891705 0.99526626 0.07729074 0.11478531] [ 0.01308863 -0.07818875 0.99685265 -1.78199966] [ 0. 0. 0. 1. ]] SLAMing on 134.04719347 meters Centerline goodness : 0.855500 Centerline is valid? [False, False] Translation: X:11.26, Y:0.11, Z:-1.78 [[ 0.99732806 -0.07080291 -0.01799119 11.25639649] [ 0.07184633 0.99522074 0.06613451 0.10760473] [ 0.01322269 -0.06725041 0.99764851 -1.78425614] [ 0. 0. 0. 1. ]] SLAMing on 134.07719347 meters Centerline goodness : 0.854992 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99684311 -0.07732838 -0.01800375 11.2590353 ] [ 0.07827959 0.99512022 0.06006715 0.10489155] [ 0.013271 -0.06128685 0.99803196 -1.78598371] [ 0. 0. 0. 1. ]] SLAMing on 134.10719347 meters Centerline goodness : 0.850749 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99654447 -0.08111374 -0.01787948 11.25986299] [ 0.08200973 0.99500441 0.05692655 0.10188608] [ 0.01317264 -0.05819613 0.99821826 -1.78629078] [ 0. 0. 0. 1. ]] SLAMing on 134.13719347 meters Centerline goodness : 0.849971 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99623248 -0.08491637 -0.01760831 11.26107735] [ 0.08575442 0.9948465 0.05409828 0.09849764] [ 0.01292374 -0.05540445 0.99838035 -1.78746928] [ 0. 0. 0. 1. ]] SLAMing on 134.16719347 meters Centerline goodness : 0.847979 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99610937 -0.08625623 -0.01805492 11.26362058] [ 0.08710326 0.99478543 0.05305635 0.09842795] [ 0.01338433 -0.05442257 0.99842829 -1.7893779 ] [ 0. 0. 0. 1. ]] SLAMing on 134.19719347 meters Centerline goodness : 0.849899 Centerline is valid? [False, False] Translation: X:11.26, Y:0.10, Z:-1.79 [[ 0.99582464 -0.08954663 -0.01773951 11.26370619] [ 0.09032458 0.99468536 0.04942174 0.09916892] [ 0.01321968 -0.0508177 0.99862045 -1.78948788] [ 0. 0. 0. 1. ]] SLAMing on 134.22719347 meters Centerline goodness : 0.847177 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99558863 -0.09172046 -0.01976469 11.26780231] [ 0.09252886 0.99469953 0.0448471 0.09851918] [ 0.01554653 -0.04647807 0.99879833 -1.78801988] [ 0. 0. 0. 1. ]] SLAMing on 134.25719347 meters Centerline goodness : 0.849037 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99534561 -0.09423415 -0.02017511 11.27046097] [ 0.09501344 0.99459077 0.04197189 0.09877451] [ 0.01611079 -0.04369345 0.99891507 -1.78968277] [ 0. 0. 0. 1. ]] SLAMing on 134.28719347 meters Centerline goodness : 0.850534 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99502568 -0.09763604 -0.01977648 11.27058286] [ 0.0983303 0.99443363 0.0378538 0.10101303] [ 0.0159705 -0.03961013 0.99908757 -1.78999407] [ 0. 0. 0. 1. ]] SLAMing on 134.31719347 meters Centerline goodness : 0.850534 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99502568 -0.09763604 -0.01977648 11.27058286] [ 0.0983303 0.99443363 0.0378538 0.10101303] [ 0.0159705 -0.03961013 0.99908757 -1.78999407] [ 0. 0. 0. 1. ]] SLAMing on 134.34719347 meters Centerline goodness : 0.848251 Centerline is valid? [False, False] Translation: X:11.27, Y:0.10, Z:-1.79 [[ 0.99499425 -0.09796661 -0.01972286 11.27035202] [ 0.09864737 0.99442865 0.0371531 0.10303239] [ 0.01597321 -0.03891273 0.99911494 -1.7898487 ] [ 0. 0. 0. 1. ]] SLAMing on 134.37719347 meters Centerline goodness : 0.848018 Centerline is valid? [False, False] Translation: X:11.27, Y:0.11, Z:-1.79 [[ 0.99517065 -0.0963 -0.01901803 11.26629695] [ 0.09696563 0.99456618 0.03789177 0.10941134] [ 0.01526572 -0.03955287 0.99910086 -1.78713572] [ 0. 0. 0. 1. ]] SLAMing on 134.40719347 meters Centerline goodness : 0.852468 Centerline is valid? [False, False] Translation: X:11.26, Y:0.11, Z:-1.79 [[ 0.99508903 -0.09719999 -0.01870762 11.26477992] [ 0.09782638 0.99454734 0.03613295 0.11362788] [ 0.01509349 -0.0377856 0.99917187 -1.78596067] [ 0. 0. 0. 1. ]] SLAMing on 134.43719347 meters Centerline goodness : 0.850235 Centerline is valid? [False, False] Translation: X:11.26, Y:0.12, Z:-1.78 [[ 0.99500176 -0.09814776 -0.01839874 11.26308404] [ 0.09873669 0.99451775 0.03443135 0.11718487] [ 0.01491852 -0.03607588 0.99923769 -1.78456273] [ 0. 0. 0. 1. ]] SLAMing on 134.46719347 meters Centerline goodness : 0.849176 Centerline is valid? [False, False] Translation: X:11.26, Y:0.12, Z:-1.78 [[ 0.99464749 -0.10173044 -0.01809084 11.26267883] [ 0.10223677 0.99431666 0.02969871 0.12138386] [ 0.01496676 -0.0313893 0.99939517 -1.78414012] [ 0. 0. 0. 1. ]] SLAMing on 134.49719347 meters Centerline goodness : 0.848953 Centerline is valid? [False, False] Translation: X:11.27, Y:0.13, Z:-1.78 [[ 0.99465926 -0.10222569 -0.01424282 11.26793001] [ 0.10247792 0.99456741 0.0182742 0.12768562] [ 0.01229735 -0.01963617 0.99973156 -1.78219239] [ 0. 0. 0. 1. ]] SLAMing on 134.52719347 meters Centerline goodness : 0.849980 Centerline is valid? [False, False] Translation: X:11.27, Y:0.13, Z:-1.78 [[ 0.99460528 -0.10275839 -0.0141789 11.26740325] [ 0.10299426 0.99453584 0.01704827 0.13113638] [ 0.01234957 -0.01841665 0.99975413 -1.78175016] [ 0. 0. 0. 1. ]] SLAMing on 134.55719347 meters Centerline goodness : 0.852035 Centerline is valid? [False, False] Translation: X:11.27, Y:0.13, Z:-1.78 [[ 0.99479903 -0.10088532 -0.01403748 11.26509183] [ 0.10113655 0.99470028 0.01851371 0.13458259] [ 0.01209532 -0.01983712 0.99973006 -1.77998862] [ 0. 0. 0. 1. ]] SLAMing on 134.58719347 meters Centerline goodness : 0.848505 Centerline is valid? [False, False] Translation: X:11.26, Y:0.14, Z:-1.78 [[ 0.99542486 -0.09441616 -0.01466065 11.26421493] [ 0.09475248 0.99520551 0.02424806 0.13979189] [ 0.01230095 -0.02552626 0.99959847 -1.77934467] [ 0. 0. 0. 1. ]] SLAMing on 134.61719347 meters Centerline goodness : 0.848937 Centerline is valid? [False, False] Translation: X:11.27, Y:0.14, Z:-1.78 [[ 0.99568878 -0.09148452 -0.01531159 11.26659477] [ 0.09186471 0.995424 0.02630463 0.14348832] [ 0.01283506 -0.02759782 0.9995367 -1.78169164] [ 0. 0. 0. 1. ]] SLAMing on 134.64719347 meters Centerline goodness : 0.846933 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.78 [[ 0.9959733 -0.08825983 -0.01572859 11.268271 ] [ 0.08868305 0.9956486 0.02862121 0.14664596] [ 0.01313404 -0.02990082 0.99946658 -1.78374154] [ 0. 0. 0. 1. ]] SLAMing on 134.67719347 meters Centerline goodness : 0.844226 Centerline is valid? [False, False] Translation: X:11.26, Y:0.15, Z:-1.78 [[ 0.99649552 -0.08116702 -0.02021383 11.25934225] [ 0.08162859 0.99639361 0.02316358 0.15182297] [ 0.01826081 -0.02473243 0.99952731 -1.783042 ] [ 0. 0. 0. 1. ]] SLAMing on 134.70719347 meters Centerline goodness : 0.843737 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.78 [[ 0.99650868 -0.08102569 -0.0201319 11.25944663] [ 0.08146322 0.99643448 0.02195589 0.15540896] [ 0.01828112 -0.02351925 0.99955622 -1.78383153] [ 0. 0. 0. 1. ]] SLAMing on 134.73719347 meters Centerline goodness : 0.844146 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.78 [[ 0.99653157 -0.08079127 -0.01993982 11.25941725] [ 0.08120254 0.99648146 0.02075694 0.15944742] [ 0.01819268 -0.02230411 0.99958569 -1.78482193] [ 0. 0. 0. 1. ]] SLAMing on 134.76719347 meters Centerline goodness : 0.843651 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.79 [[ 0.99652842 -0.08082853 -0.01994614 11.259709 ] [ 0.08121413 0.99650895 0.01934382 0.16352695] [ 0.01831297 -0.02089657 0.99961391 -1.78573351] [ 0. 0. 0. 1. ]] SLAMing on 134.79719347 meters Centerline goodness : 0.842700 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99653292 -0.08067675 -0.02033249 11.26095565] [ 0.08105304 0.99653964 0.01841605 0.16632251] [ 0.01877638 -0.02000021 0.99962365 -1.78694559] [ 0. 0. 0. 1. ]] SLAMing on 134.82719347 meters Centerline goodness : 0.840958 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99651291 -0.08092026 -0.02034525 11.26341082] [ 0.08125407 0.99656253 0.01615252 0.17008752] [ 0.01896825 -0.01774933 0.99966253 -1.79073054] [ 0. 0. 0. 1. ]] SLAMing on 134.85719347 meters Centerline goodness : 0.847220 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99659139 -0.07972589 -0.0211986 11.26628426] [ 0.08009499 0.99663931 0.01717221 0.17031999] [ 0.01975829 -0.01881158 0.9996278 -1.79263047] [ 0. 0. 0. 1. ]] SLAMing on 134.88719347 meters Centerline goodness : 0.842859 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.9965153 -0.08045756 -0.02199648 11.26775851] [ 0.08082865 0.99659084 0.01653559 0.17214641] [ 0.02059107 -0.01825592 0.99962129 -1.79266433] [ 0. 0. 0. 1. ]] SLAMing on 134.91719347 meters Centerline goodness : 0.844951 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99628458 -0.08305655 -0.02277391 11.2708255 ] [ 0.08338451 0.99642121 0.01384884 0.17330549] [ 0.02154217 -0.01569638 0.99964472 -1.7941467 ] [ 0. 0. 0. 1. ]] SLAMing on 134.94719347 meters Centerline goodness : 0.844131 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95923090e-01 -8.72400373e-02 -2.29428755e-02 1.12719284e+01] [ 8.74845210e-02 9.96116926e-01 9.87568891e-03 1.73542170e-01] [ 2.19922312e-02 -1.18425731e-02 9.99687999e-01 -1.79429933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97719347 meters Centerline goodness : 0.846081 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95567604e-01 -9.11619003e-02 -2.31225841e-02 1.12733750e+01] [ 9.13324153e-02 9.95799723e-01 6.42656537e-03 1.72202627e-01] [ 2.24396049e-02 -8.50992174e-03 9.99711981e-01 -1.79469325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00719347 meters Centerline goodness : 0.844526 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95126140e-01 -9.58158098e-02 -2.33087109e-02 1.12735905e+01] [ 9.59298780e-02 9.95380752e-01 3.82330858e-03 1.67808499e-01] [ 2.28347088e-02 -6.04067610e-03 9.99721004e-01 -1.79248017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03719347 meters Centerline goodness : 0.850384 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95076372e-01 -9.62149599e-02 -2.37843589e-02 1.12735339e+01] [ 9.63433018e-02 9.95338843e-01 4.30772118e-03 1.66561465e-01] [ 2.32590291e-02 -6.57797524e-03 9.99707831e-01 -1.79076417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06719347 meters Centerline goodness : 0.848694 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95076769e-01 -9.61164372e-02 -2.41630978e-02 1.12730915e+01] [ 9.62645553e-02 9.95343020e-01 5.04065326e-03 1.65393310e-01] [ 2.35660811e-02 -7.34188682e-03 9.99695322e-01 -1.78893993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09719347 meters Centerline goodness : 0.850156 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 9.95089223e-01 -9.59525158e-02 -2.43012828e-02 1.12726071e+01] [ 9.61097526e-02 9.95356179e-01 5.38447243e-03 1.65076055e-01] [ 2.36717783e-02 -7.69362076e-03 9.99690180e-01 -1.78774731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12719347 meters Centerline goodness : 0.851403 Centerline is valid? [False, False] Translation: X:11.27, Y:0.16, Z:-1.79 [[ 9.95412323e-01 -9.23973484e-02 -2.48402535e-02 1.12726352e+01] [ 9.26544430e-02 9.95653917e-01 9.40378575e-03 1.64232017e-01] [ 2.38634109e-02 -1.16622041e-02 9.99647203e-01 -1.78708874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15719347 meters Centerline goodness : 0.850568 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99580894 -0.08805053 -0.02473186 11.27116607] [ 0.08838693 0.99600329 0.0128531 0.16632335] [ 0.02350129 -0.0149852 0.99961149 -1.78630921] [ 0. 0. 0. 1. ]] SLAMing on 135.18719347 meters Centerline goodness : 0.854352 Centerline is valid? [False, False] Translation: X:11.27, Y:0.17, Z:-1.79 [[ 0.99616938 -0.08374616 -0.02516238 11.27173624] [ 0.08419266 0.99630033 0.01724105 0.16544174] [ 0.02362542 -0.0192935 0.99953469 -1.78669686] [ 0. 0. 0. 1. ]] SLAMing on 135.21719347 meters Centerline goodness : 0.852763 Centerline is valid? [False, False] Translation: X:11.25, Y:0.16, Z:-1.79 [[ 0.99709277 -0.07166657 -0.02588282 11.25304471] [ 0.07199051 0.99733543 0.01180733 0.16479933] [ 0.02496766 -0.01363632 0.99959525 -1.786456 ] [ 0. 0. 0. 1. ]] SLAMing on 135.24719347 meters Centerline goodness : 0.854487 Centerline is valid? [False, False] Translation: X:11.25, Y:0.17, Z:-1.79 [[ 0.99719262 -0.07016011 -0.02616182 11.25386465] [ 0.07049044 0.99744118 0.01192449 0.16684821] [ 0.02525825 -0.01373517 0.9995866 -1.787349 ] [ 0. 0. 0. 1. ]] SLAMing on 135.27719347 meters Centerline goodness : 0.855143 Centerline is valid? [False, False] Translation: X:11.25, Y:0.17, Z:-1.79 [[ 0.99745338 -0.06619077 -0.02656196 11.25436283] [ 0.0666279 0.99765083 0.01592304 0.16675268] [ 0.02544561 -0.01765225 0.99952034 -1.7876774 ] [ 0. 0. 0. 1. ]] SLAMing on 135.30719347 meters Centerline goodness : 0.851261 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99749696 -0.06524892 -0.02724693 11.25790156] [ 0.06569224 0.99771634 0.01570459 0.16864793] [ 0.02616 -0.01745519 0.99950536 -1.79116222] [ 0. 0. 0. 1. ]] SLAMing on 135.33719347 meters Centerline goodness : 0.853123 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.99745485 -0.0656682 -0.02777611 11.25972092] [ 0.06611565 0.99769143 0.01550888 0.16840267] [ 0.02669354 -0.01730585 0.99949385 -1.79219271] [ 0. 0. 0. 1. ]] SLAMing on 135.36719347 meters Centerline goodness : 0.851867 Centerline is valid? [False, False] Translation: X:11.26, Y:0.17, Z:-1.79 [[ 0.9974259 -0.06584136 -0.02839881 11.26140968] [ 0.06631764 0.99766757 0.01616762 0.16700074] [ 0.02726808 -0.01800934 0.99946592 -1.79258975] [ 0. 0. 0. 1. ]] SLAMing on 135.39719347 meters Centerline goodness : 0.848119 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.79 [[ 0.99713681 -0.07004232 -0.02850022 11.26298228] [ 0.07043213 0.99743303 0.01291019 0.16404649] [ 0.0275228 -0.01488056 0.99951041 -1.79331924] [ 0. 0. 0. 1. ]] SLAMing on 135.42719347 meters Centerline goodness : 0.850135 Centerline is valid? [False, False] Translation: X:11.26, Y:0.16, Z:-1.79 [[ 0.99712593 -0.06988716 -0.0292518 11.26478225] [ 0.07033608 0.99741637 0.01460878 0.16047539] [ 0.02815526 -0.01662425 0.99946531 -1.79322672] [ 0. 0. 0. 1. ]] SLAMing on 135.45719347 meters Centerline goodness : 0.849237 Centerline is valid? [False, False] Translation: X:11.27, Y:0.16, Z:-1.79 [[ 0.99696342 -0.0719427 -0.02980235 11.26760808] [ 0.07233988 0.99730209 0.01246919 0.15899455] [ 0.02882487 -0.01458722 0.99947803 -1.79490738] [ 0. 0. 0. 1. ]] SLAMing on 135.48719347 meters Centerline goodness : 0.855756 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.79 [[ 0.99698037 -0.07158108 -0.03010468 11.26847257] [ 0.0720279 0.99730396 0.01402797 0.15487994] [ 0.02901938 -0.01615399 0.99944831 -1.79462931] [ 0. 0. 0. 1. ]] SLAMing on 135.51719347 meters Centerline goodness : 0.855707 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.79 [[ 0.99700754 -0.07113882 -0.03025285 11.26880469] [ 0.07161067 0.99732272 0.01480901 0.1538279 ] [ 0.02911836 -0.01693112 0.99943257 -1.79457172] [ 0. 0. 0. 1. ]] SLAMing on 135.54719347 meters Centerline goodness : 0.850557 Centerline is valid? [False, False] Translation: X:11.27, Y:0.15, Z:-1.79 [[ 0.997025 -0.07072547 -0.03064407 11.2698809 ] [ 0.0712293 0.99733683 0.01567282 0.15251451] [ 0.02945399 -0.01780895 0.99940748 -1.79485504] [ 0. 0. 0. 1. ]] SLAMing on 135.57719347 meters Centerline goodness : 0.850221 Centerline is valid? [False, False] Translation: X:11.29, Y:0.15, Z:-1.79 [[ 9.97169442e-01 -6.80894208e-02 -3.18894277e-02 1.12861520e+01] [ 6.82161278e-02 9.97666349e-01 2.90109351e-03 1.51404459e-01] [ 3.16174751e-02 -5.06825507e-03 9.99487193e-01 -1.79289570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60719347 meters Centerline goodness : 0.851943 Centerline is valid? [False, False] Translation: X:11.29, Y:0.14, Z:-1.78 [[ 0.99693463 -0.06763947 -0.03932234 11.29417741] [ 0.06905384 0.99697049 0.03579672 0.14090076] [ 0.03678194 -0.03840235 0.99858517 -1.7833774 ] [ 0. 0. 0. 1. ]] SLAMing on 135.63719347 meters Centerline goodness : 0.852253 Centerline is valid? [False, False] Translation: X:11.29, Y:0.14, Z:-1.78 [[ 0.9969517 -0.06732232 -0.03943376 11.29422307] [ 0.06879779 0.99693172 0.03733641 0.13780151] [ 0.03679919 -0.03993556 0.9985244 -1.7823722 ] [ 0. 0. 0. 1. ]] SLAMing on 135.66719347 meters Centerline goodness : 0.853728 Centerline is valid? [False, False] Translation: X:11.30, Y:0.14, Z:-1.78 [[ 0.99706209 -0.06751414 -0.03618043 11.30038166] [ 0.06848012 0.99730947 0.02615908 0.13927449] [ 0.03431698 -0.02855987 0.99900284 -1.78101266] [ 0. 0. 0. 1. ]] SLAMing on 135.69719347 meters Centerline goodness : 0.850577 Centerline is valid? [False, False] Translation: X:11.30, Y:0.14, Z:-1.78 [[ 0.99687442 -0.07047271 -0.03570688 11.2988821 ] [ 0.07135529 0.99716036 0.02407563 0.13593061] [ 0.03390881 -0.02654825 0.99907226 -1.77891725] [ 0. 0. 0. 1. ]] SLAMing on 135.72719347 meters Centerline goodness : 0.852454 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99687511 -0.07032014 -0.03598752 11.2993315 ] [ 0.07125956 0.99713123 0.02552221 0.13222789] [ 0.03408955 -0.02800691 0.99902628 -1.77822556] [ 0. 0. 0. 1. ]] SLAMing on 135.75719347 meters Centerline goodness : 0.850437 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99660672 -0.07395104 -0.03614251 11.30038754] [ 0.07478457 0.99695079 0.0222799 0.13052285] [ 0.03438468 -0.0249072 0.99909826 -1.77830884] [ 0. 0. 0. 1. ]] SLAMing on 135.78719347 meters Centerline goodness : 0.852773 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99637258 -0.07710688 -0.03600299 11.30084087] [ 0.07786594 0.99675963 0.02017774 0.12652532] [ 0.03433049 -0.02290796 0.99914796 -1.77788433] [ 0. 0. 0. 1. ]] SLAMing on 135.81719347 meters Centerline goodness : 0.853592 Centerline is valid? [False, False] Translation: X:11.30, Y:0.13, Z:-1.78 [[ 0.99622282 -0.07886572 -0.03633575 11.30310365] [ 0.07956938 0.99666056 0.01834236 0.12654019] [ 0.03476783 -0.02116429 0.99917129 -1.77933763] [ 0. 0. 0. 1. ]] SLAMing on 135.84719347 meters Centerline goodness : 0.853504 Centerline is valid? [False, False] Translation: X:11.30, Y:0.12, Z:-1.78 [[ 0.99650596 -0.07498207 -0.0367909 11.30346556] [ 0.07586375 0.99684867 0.02318226 0.12422193] [ 0.03493671 -0.02589236 0.99905406 -1.77899201] [ 0. 0. 0. 1. ]] SLAMing on 135.87719347 meters Centerline goodness : 0.854345 Centerline is valid? [False, False] Translation: X:11.30, Y:0.12, Z:-1.78 [[ 0.99652795 -0.07454379 -0.03708474 11.30421116] [ 0.07543879 0.99687704 0.0233484 0.12466938] [ 0.03522844 -0.02606496 0.99903933 -1.77924562] [ 0. 0. 0. 1. ]] SLAMing on 135.90719347 meters Centerline goodness : 0.854492 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99704265 -0.06777578 -0.03622709 11.30506352] [ 0.06825144 0.99759529 0.012057 0.12489532] [ 0.03532281 -0.0144939 0.99927085 -1.77969996] [ 0. 0. 0. 1. ]] SLAMing on 135.93719347 meters Centerline goodness : 0.853516 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99730043 -0.06369419 -0.03653626 11.30560811] [ 0.06433652 0.99778882 0.01668187 0.12197486] [ 0.03539293 -0.01898745 0.99919308 -1.77992512] [ 0. 0. 0. 1. ]] SLAMing on 135.96719347 meters Centerline goodness : 0.855408 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99731392 -0.06341509 -0.03665329 11.3063679 ] [ 0.06406609 0.99780311 0.01686692 0.12151563] [ 0.03550315 -0.01916984 0.99918569 -1.78062536] [ 0. 0. 0. 1. ]] SLAMing on 135.99719347 meters Centerline goodness : 0.854796 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99732167 -0.06315598 -0.03688919 11.30716046] [ 0.06382656 0.9978112 0.01729128 0.12021508] [ 0.0357164 -0.01959947 0.99916975 -1.7809918 ] [ 0. 0. 0. 1. ]] SLAMing on 136.02719347 meters Centerline goodness : 0.855782 Centerline is valid? [False, False] Translation: X:11.31, Y:0.12, Z:-1.78 [[ 0.99719528 -0.06480623 -0.03743974 11.30978549] [ 0.06544598 0.99772588 0.01612131 0.1154057 ] [ 0.03630984 -0.01852637 0.99916884 -1.78217636] [ 0. 0. 0. 1. ]] SLAMing on 136.05719347 meters Centerline goodness : 0.855808 Centerline is valid? [False, False] Translation: X:11.31, Y:0.11, Z:-1.78 [[ 0.99707483 -0.06634334 -0.03795183 11.31267477] [ 0.06694268 0.99764787 0.01474432 0.11323985] [ 0.03688437 -0.01724179 0.99917079 -1.7839652 ] [ 0. 0. 0. 1. ]] SLAMing on 136.08719347 meters Centerline goodness : 0.855112 Centerline is valid? [False, False] Translation: X:11.31, Y:0.11, Z:-1.78 [[ 0.99710911 -0.06579601 -0.03800412 11.31335415] [ 0.06643839 0.99766394 0.01589343 0.11036919] [ 0.03686962 -0.01837241 0.99915118 -1.78454484] [ 0. 0. 0. 1. ]] SLAMing on 136.11719347 meters Centerline goodness : 0.857278 Centerline is valid? [False, False] Translation: X:11.31, Y:0.11, Z:-1.79 [[ 0.99712396 -0.06540716 -0.03828469 11.31451691] [ 0.06609017 0.99767131 0.01685386 0.1076438 ] [ 0.03709318 -0.01933563 0.99912473 -1.78517922] [ 0. 0. 0. 1. ]] SLAMing on 136.14719347 meters Centerline goodness : 0.854965 Centerline is valid? [False, False] Translation: X:11.32, Y:0.10, Z:-1.79 [[ 0.99703996 -0.0665663 -0.0384739 11.31635319] [ 0.06724522 0.9975979 0.01662884 0.1004151 ] [ 0.03727456 -0.0191668 0.99912123 -1.78616203] [ 0. 0. 0. 1. ]] SLAMing on 136.17719347 meters Centerline goodness : 0.854965 Centerline is valid? [False, False] Translation: X:11.32, Y:0.10, Z:-1.79 [[ 0.99703996 -0.0665663 -0.0384739 11.31635319] [ 0.06724522 0.9975979 0.01662884 0.1004151 ] [ 0.03727456 -0.0191668 0.99912123 -1.78616203] [ 0. 0. 0. 1. ]] SLAMing on 136.20719347 meters Centerline goodness : 0.855830 Centerline is valid? [False, False] Translation: X:11.32, Y:0.10, Z:-1.79 [[ 0.99690267 -0.06821601 -0.0391361 11.31918142] [ 0.06885187 0.99751209 0.01513473 0.09674573] [ 0.0380063 -0.01778245 0.99911926 -1.78748332] [ 0. 0. 0. 1. ]] SLAMing on 136.23719347 meters Centerline goodness : 0.853832 Centerline is valid? [False, False] Translation: X:11.32, Y:0.09, Z:-1.79 [[ 0.9967803 -0.06956588 -0.03986998 11.32228038] [ 0.0701749 0.99743528 0.01408318 0.09271568] [ 0.03878801 -0.01683571 0.99910562 -1.78895266] [ 0. 0. 0. 1. ]] SLAMing on 136.26719347 meters Centerline goodness : 0.856591 Centerline is valid? [False, False] Translation: X:11.32, Y:0.09, Z:-1.79 [[ 0.99658359 -0.072232 -0.04004617 11.32344137] [ 0.0727491 0.99728273 0.01160737 0.08944612] [ 0.03909893 -0.01448104 0.99913041 -1.78906092] [ 0. 0. 0. 1. ]] SLAMing on 136.29719347 meters Centerline goodness : 0.859510 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.96464747e-01 -7.41659879e-02 -3.94640864e-02 1.13213069e+01] [ 7.46619117e-02 9.97145527e-01 1.12426240e-02 8.22792368e-02] [ 3.85176169e-02 -1.41493426e-02 9.99157740e-01 -1.78702950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32719347 meters Centerline goodness : 0.859651 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.96263890e-01 -7.69507479e-02 -3.92026122e-02 1.13207171e+01] [ 7.73486394e-02 9.96965851e-01 8.73381846e-03 7.97544220e-02] [ 3.84115918e-02 -1.17334567e-02 9.99193112e-01 -1.78604959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35719347 meters Centerline goodness : 0.861303 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.96100858e-01 -7.87855797e-02 -3.96977657e-02 1.13230455e+01] [ 7.91287321e-02 9.96838793e-01 7.14588625e-03 7.70117880e-02] [ 3.90092801e-02 -1.02592573e-02 9.99186181e-01 -1.78703945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38719347 meters Centerline goodness : 0.860784 Centerline is valid? [False, False] Translation: X:11.32, Y:0.08, Z:-1.79 [[ 9.95879839e-01 -8.16485842e-02 -3.94570106e-02 1.13232258e+01] [ 8.18835007e-02 9.96632318e-01 4.37209537e-03 7.51324186e-02] [ 3.89671565e-02 -7.58495979e-03 9.99211704e-01 -1.78710200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41719347 meters Centerline goodness : 0.860803 Centerline is valid? [False, False] Translation: X:11.32, Y:0.07, Z:-1.79 [[ 9.95968879e-01 -8.05249189e-02 -3.95187141e-02 1.13241241e+01] [ 8.08384048e-02 9.96706691e-01 6.39722176e-03 6.88215070e-02] [ 3.88734310e-02 -9.56606360e-03 9.99198352e-01 -1.78768394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44719347 meters Centerline goodness : 0.861342 Centerline is valid? [False, False] Translation: X:11.33, Y:0.07, Z:-1.79 [[ 9.95918749e-01 -8.10088562e-02 -3.97920996e-02 1.13258674e+01] [ 8.13184143e-02 9.96668760e-01 6.22076027e-03 6.63773659e-02] [ 3.91556059e-02 -9.43120222e-03 9.99188616e-01 -1.78870092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47719347 meters Centerline goodness : 0.864469 Centerline is valid? [False, False] Translation: X:11.33, Y:0.06, Z:-1.79 [[ 9.95848277e-01 -8.17169167e-02 -4.01067801e-02 1.13276210e+01] [ 8.20113559e-02 9.96614813e-01 5.74910032e-03 6.40572905e-02] [ 3.95012124e-02 -9.01444307e-03 9.99178860e-01 -1.78955262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50719347 meters Centerline goodness : 0.864981 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:-1.79 [[ 9.96114091e-01 -8.02481171e-02 -3.62898986e-02 1.13365896e+01] [ 8.01996310e-02 9.96774911e-01 -2.79216052e-03 6.34060645e-02] [ 3.63969261e-02 -1.29126035e-04 9.99337404e-01 -1.79026299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53719347 meters Centerline goodness : 0.867276 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:-1.79 [[ 9.95928233e-01 -8.25414195e-02 -3.62473408e-02 1.13378551e+01] [ 8.24296855e-02 9.96586410e-01 -4.56877535e-03 6.01130789e-02] [ 3.65007205e-02 1.56231545e-03 9.99332405e-01 -1.79115153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56719347 meters Centerline goodness : 0.867892 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:-1.79 [[ 9.95945908e-01 -8.21586424e-02 -3.66293147e-02 1.13388772e+01] [ 8.20912817e-02 9.96619212e-01 -3.34173301e-03 5.64212462e-02] [ 3.67800310e-02 3.21237929e-04 9.99323334e-01 -1.79134364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59719347 meters Centerline goodness : 0.868636 Centerline is valid? [False, False] Translation: X:11.34, Y:0.05, Z:-1.79 [[ 9.95670048e-01 -8.55080149e-02 -3.64627918e-02 1.13393107e+01] [ 8.53369564e-02 9.96332702e-01 -6.22497945e-03 5.37660314e-02] [ 3.68613576e-02 3.08640191e-03 9.99315623e-01 -1.79141874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62719347 meters Centerline goodness : 0.871238 Centerline is valid? [False, False] Translation: X:11.34, Y:0.05, Z:-1.79 [[ 9.95379010e-01 -8.88053455e-02 -3.65272152e-02 1.13406551e+01] [ 8.85771638e-02 9.96038608e-01 -7.82165090e-03 4.61008366e-02] [ 3.70771210e-02 4.55003001e-03 9.99302049e-01 -1.79162614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65719347 meters Centerline goodness : 0.874083 Centerline is valid? [False, False] Translation: X:11.34, Y:0.04, Z:-1.79 [[ 9.95036787e-01 -9.25798302e-02 -3.64796904e-02 1.13413857e+01] [ 9.22426482e-02 9.95677729e-01 -1.08237442e-02 4.32920642e-02] [ 3.73240757e-02 7.40504040e-03 9.99275777e-01 -1.79165636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68719347 meters Centerline goodness : 0.873336 Centerline is valid? [False, False] Translation: X:11.34, Y:0.04, Z:-1.79 [[ 9.94983164e-01 -9.29888767e-02 -3.68994864e-02 1.13425719e+01] [ 9.26940040e-02 9.95648103e-01 -9.62683519e-03 3.85063700e-02] [ 3.76340923e-02 6.15817779e-03 9.99272611e-01 -1.79174121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71719347 meters Centerline goodness : 0.878928 Centerline is valid? [False, False] Translation: X:11.35, Y:0.03, Z:-1.79 [[ 9.94275065e-01 -1.00187848e-01 -3.71414897e-02 1.13454108e+01] [ 9.96890579e-02 9.94904795e-01 -1.50512433e-02 3.36367907e-02] [ 3.84601979e-02 1.12624758e-02 9.99196662e-01 -1.79286260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74719347 meters Centerline goodness : 0.878859 Centerline is valid? [False, False] Translation: X:11.35, Y:0.03, Z:-1.79 [[ 9.94213628e-01 -1.00621992e-01 -3.76095184e-02 1.13466484e+01] [ 1.00156339e-01 9.94872202e-01 -1.40715986e-02 2.93768310e-02] [ 3.88325767e-02 1.02233435e-02 9.99193432e-01 -1.79293553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77719347 meters Centerline goodness : 0.882154 Centerline is valid? [False, False] Translation: X:11.35, Y:0.03, Z:-1.79 [[ 9.94166310e-01 -1.00923201e-01 -3.80506948e-02 1.13475686e+01] [ 1.00489468e-01 9.94851231e-01 -1.31489511e-02 2.53601967e-02] [ 3.91818148e-02 9.24855010e-03 9.99189296e-01 -1.79265132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80719347 meters Centerline goodness : 0.885117 Centerline is valid? [False, False] Translation: X:11.36, Y:0.02, Z:-1.79 [[ 9.93931786e-01 -1.04981442e-01 -3.28405445e-02 1.13571569e+01] [ 1.04814579e-01 9.94468760e-01 -6.76672495e-03 2.14391042e-02] [ 3.33692761e-02 3.28349519e-03 9.99437697e-01 -1.79444746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83719347 meters Centerline goodness : 0.886223 Centerline is valid? [False, False] Translation: X:11.36, Y:0.02, Z:-1.79 [[ 9.93874888e-01 -1.05448281e-01 -3.30660900e-02 1.13576750e+01] [ 1.05267654e-01 9.94418138e-01 -7.16156413e-03 2.20907596e-02] [ 3.36366943e-02 3.63690902e-03 9.99427509e-01 -1.79448839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86719347 meters Centerline goodness : 0.886024 Centerline is valid? [False, False] Translation: X:11.37, Y:0.03, Z:-1.80 [[ 0.99425263 -0.10378297 -0.02628317 11.36706693] [ 0.10343702 0.99453463 -0.01420035 0.02513095] [ 0.02761328 0.01140009 0.99955367 -1.79711343] [ 0. 0. 0. 1. ]] SLAMing on 136.89719347 meters Centerline goodness : 0.891579 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:-1.80 [[ 0.99446454 -0.10325012 -0.01948573 11.37835091] [ 0.10282317 0.99446134 -0.02177258 0.02849029] [ 0.02162583 0.01964848 0.99957304 -1.80065865] [ 0. 0. 0. 1. ]] SLAMing on 136.92719347 meters Centerline goodness : 0.887839 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:-1.80 [[ 0.9942674 -0.10504084 -0.01996884 11.37985667] [ 0.10457624 0.99424993 -0.02304099 0.02933687] [ 0.02227427 0.02082064 0.99953507 -1.80109942] [ 0. 0. 0. 1. ]] SLAMing on 136.95719347 meters Centerline goodness : 0.886447 Centerline is valid? [False, False] Translation: X:11.38, Y:0.03, Z:-1.80 [[ 0.99413843 -0.10619564 -0.02027965 11.38112453] [ 0.10570709 0.99411217 -0.02381195 0.03004144] [ 0.02268897 0.02152867 0.99951074 -1.8018216 ] [ 0. 0. 0. 1. ]] SLAMing on 136.98719347 meters Centerline goodness : 0.886223 Centerline is valid? [False, False] Translation: X:11.39, Y:0.03, Z:-1.80 [[ 0.99361431 -0.11044145 -0.02309284 11.38768572] [ 0.10983725 0.99361008 -0.02597662 0.03375027] [ 0.02581417 0.02327428 0.99939579 -1.80228211] [ 0. 0. 0. 1. ]] SLAMing on 137.01719347 meters Centerline goodness : 0.888081 Centerline is valid? [False, False] Translation: X:11.39, Y:0.04, Z:-1.81 [[ 0.99306786 -0.11499236 -0.02435122 11.39302384] [ 0.11424406 0.9929945 -0.03016996 0.04312234] [ 0.02764994 0.02717883 0.99924811 -1.80517577] [ 0. 0. 0. 1. ]] SLAMing on 137.04719347 meters Centerline goodness : 0.887266 Centerline is valid? [False, False] Translation: X:11.40, Y:0.05, Z:-1.81 [[ 0.99320078 -0.11362428 -0.02533231 11.39557113] [ 0.11289161 0.993193 -0.02869058 0.04641762] [ 0.02841982 0.0256357 0.99926729 -1.80663169] [ 0. 0. 0. 1. ]] SLAMing on 137.07719347 meters Centerline goodness : 0.889433 Centerline is valid? [False, False] Translation: X:11.42, Y:0.05, Z:-1.81 [[ 0.99318191 -0.11354538 -0.02640339 11.41691809] [ 0.11274981 0.99317372 -0.02989065 0.05172642] [ 0.02961709 0.02670988 0.99920439 -1.80713553] [ 0. 0. 0. 1. ]] SLAMing on 137.10719347 meters Centerline goodness : 0.885641 Centerline is valid? [False, False] Translation: X:11.42, Y:0.05, Z:-1.81 [[ 0.99343128 -0.11120162 -0.02699063 11.41802208] [ 0.1104569 0.99349553 -0.02767514 0.05450689] [ 0.02989259 0.02451205 0.99925252 -1.80786364] [ 0. 0. 0. 1. ]] SLAMing on 137.13719347 meters Centerline goodness : 0.885027 Centerline is valid? [False, False] Translation: X:11.42, Y:0.06, Z:-1.81 [[ 0.99355688 -0.10985658 -0.02786156 11.42075829] [ 0.10912243 0.99367149 -0.02663214 0.05859775] [ 0.03061096 0.02342022 0.99925696 -1.80975349] [ 0. 0. 0. 1. ]] SLAMing on 137.16719347 meters Centerline goodness : 0.883265 Centerline is valid? [False, False] Translation: X:11.44, Y:0.07, Z:-1.81 [[ 0.99376834 -0.10745608 -0.02962557 11.4425364 ] [ 0.10662547 0.99389574 -0.0283243 0.07336684] [ 0.03248834 0.02498895 0.99915968 -1.81261486] [ 0. 0. 0. 1. ]] SLAMing on 137.19719347 meters Centerline goodness : 0.883539 Centerline is valid? [False, False] Translation: X:11.46, Y:0.08, Z:-1.82 [[ 0.99423163 -0.10428162 -0.02507614 11.456136 ] [ 0.10340867 0.99406102 -0.03390173 0.08200663] [ 0.02846255 0.03111308 0.99911053 -1.81715178] [ 0. 0. 0. 1. ]] SLAMing on 137.22719347 meters Centerline goodness : 0.883269 Centerline is valid? [False, False] Translation: X:11.48, Y:0.09, Z:-1.82 [[ 0.99455565 -0.10137093 -0.02414545 11.47567888] [ 0.10052847 0.99435753 -0.03386924 0.08951127] [ 0.02744257 0.03125754 0.99913456 -1.81825905] [ 0. 0. 0. 1. ]] SLAMing on 137.25719347 meters Centerline goodness : 0.884331 Centerline is valid? [False, False] Translation: X:11.49, Y:0.10, Z:-1.82 [[ 0.99490698 -0.09818147 -0.02281427 11.49452096] [ 0.09735007 0.99463202 -0.03507295 0.10285809] [ 0.02613532 0.03267335 0.99912432 -1.81953039] [ 0. 0. 0. 1. ]] SLAMing on 137.28719347 meters Centerline goodness : 0.886135 Centerline is valid? [False, False] Translation: X:11.51, Y:0.11, Z:-1.82 [[ 0.995327 -0.0943978 -0.02032786 11.50607451] [ 0.09350539 0.99476975 -0.04110819 0.10879426] [ 0.02410207 0.03901533 0.99894789 -1.82190081] [ 0. 0. 0. 1. ]] SLAMing on 137.31719347 meters Centerline goodness : 0.880257 Centerline is valid? [False, False] Translation: X:11.51, Y:0.11, Z:-1.82 [[ 0.99561338 -0.09121773 -0.02081628 11.50667839] [ 0.09036721 0.9951571 -0.03867955 0.11251678] [ 0.02424373 0.03662877 0.99903482 -1.82207609] [ 0. 0. 0. 1. ]] SLAMing on 137.34719347 meters Centerline goodness : 0.884978 Centerline is valid? [False, False] Translation: X:11.51, Y:0.12, Z:-1.82 [[ 0.99578286 -0.08914499 -0.02167195 11.50862098] [ 0.08829657 0.99539268 -0.03737819 0.11738714] [ 0.02490417 0.035307 0.99906616 -1.82291744] [ 0. 0. 0. 1. ]] SLAMing on 137.37719347 meters Centerline goodness : 0.882094 Centerline is valid? [False, False] Translation: X:11.51, Y:0.13, Z:-1.82 [[ 0.99624294 -0.08378055 -0.02192759 11.50746436] [ 0.0830177 0.99597968 -0.03365316 0.12705319] [ 0.02465891 0.03170634 0.999193 -1.82176228] [ 0. 0. 0. 1. ]] SLAMing on 137.40719347 meters Centerline goodness : 0.882190 Centerline is valid? [False, False] Translation: X:11.51, Y:0.13, Z:-1.82 [[ 0.99650164 -0.08062586 -0.02199893 11.50655091] [ 0.07991431 0.9963037 -0.03150628 0.13248851] [ 0.02445784 0.02963803 0.99926143 -1.82101719] [ 0. 0. 0. 1. ]] SLAMing on 137.43719347 meters Centerline goodness : 0.888732 Centerline is valid? [False, False] Translation: X:11.51, Y:0.14, Z:-1.82 [[ 0.99676913 -0.07809177 -0.01878747 11.51198817] [ 0.0777516 0.99680657 -0.0182031 0.13580327] [ 0.02014898 0.01668353 0.99965778 -1.81953417] [ 0. 0. 0. 1. ]] SLAMing on 137.46719347 meters Centerline goodness : 0.884648 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.97239724e-01 -7.35844004e-02 -9.91302757e-03 1.15182911e+01] [ 7.33727620e-02 9.97099053e-01 -2.02463857e-02 1.45816321e-01] [ 1.13740886e-02 1.94631539e-02 9.99745876e-01 -1.81999339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49719347 meters Centerline goodness : 0.885983 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.97483915e-01 -7.01594837e-02 -1.01727790e-02 1.15178519e+01] [ 6.99780190e-02 9.97399988e-01 -1.72145568e-02 1.48031524e-01] [ 1.13540941e-02 1.64593726e-02 9.99800067e-01 -1.81937897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52719347 meters Centerline goodness : 0.882622 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.97709770e-01 -6.68185229e-02 -1.05118502e-02 1.15179919e+01] [ 6.66649020e-02 9.97672331e-01 -1.43426173e-02 1.50986518e-01] [ 1.14457346e-02 1.36089979e-02 9.99841883e-01 -1.81931123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55719347 meters Centerline goodness : 0.882311 Centerline is valid? [False, False] Translation: X:11.52, Y:0.15, Z:-1.82 [[ 9.98139703e-01 -5.99131606e-02 -1.12936580e-02 1.15182825e+01] [ 5.98367035e-02 9.98183700e-01 -6.99072503e-03 1.52804830e-01] [ 1.16919818e-02 6.30194493e-03 9.99911788e-01 -1.81887023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58719347 meters Centerline goodness : 0.885140 Centerline is valid? [False, False] Translation: X:11.52, Y:0.16, Z:-1.82 [[ 9.98701360e-01 -4.96760935e-02 -1.13084147e-02 1.15166838e+01] [ 4.96918764e-02 9.98763969e-01 1.11882736e-03 1.61968938e-01] [ 1.12388582e-02 -1.67931075e-03 9.99935432e-01 -1.81854520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61719347 meters Centerline goodness : 0.887450 Centerline is valid? [False, False] Translation: X:11.52, Y:0.17, Z:-1.82 [[ 9.98912738e-01 -4.52579935e-02 -1.11828557e-02 1.15159033e+01] [ 4.53031231e-02 9.98965999e-01 3.81566484e-03 1.66774937e-01] [ 1.09986033e-02 -4.31813450e-03 9.99930190e-01 -1.81862090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64719347 meters Centerline goodness : 0.882617 Centerline is valid? [False, False] Translation: X:11.51, Y:0.17, Z:-1.82 [[ 9.99200267e-01 -3.83125035e-02 -1.14445819e-02 1.15147867e+01] [ 3.84291365e-02 9.99209765e-01 1.01511600e-02 1.69018823e-01] [ 1.10466217e-02 -1.05828472e-02 9.99882981e-01 -1.81742015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67719347 meters Centerline goodness : 0.884343 Centerline is valid? [False, False] Translation: X:11.51, Y:0.17, Z:-1.82 [[ 9.99359595e-01 -3.39641064e-02 -1.12622937e-02 1.15135324e+01] [ 3.41089296e-02 9.99334522e-01 1.29264973e-02 1.72349557e-01] [ 1.08157620e-02 -1.33023639e-02 9.99853022e-01 -1.81667811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70719347 meters Centerline goodness : 0.887429 Centerline is valid? [False, False] Translation: X:11.51, Y:0.18, Z:-1.81 [[ 9.99694409e-01 -2.38147931e-02 -6.62910971e-03 1.15143294e+01] [ 2.38692404e-02 9.99680972e-01 8.25912009e-03 1.80592883e-01] [ 6.43030560e-03 -8.41482799e-03 9.99943919e-01 -1.81422243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73719347 meters Centerline goodness : 0.885834 Centerline is valid? [False, False] Translation: X:11.51, Y:0.18, Z:-1.81 [[ 9.99780511e-01 -1.98771992e-02 -6.62016522e-03 1.15138973e+01] [ 1.99522281e-02 9.99735173e-01 1.14670263e-02 1.82721076e-01] [ 6.39047966e-03 -1.15965964e-02 9.99912337e-01 -1.81404657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76719347 meters Centerline goodness : 0.884655 Centerline is valid? [False, False] Translation: X:11.51, Y:0.18, Z:-1.82 [[ 9.99796351e-01 -1.90846503e-02 -6.55997889e-03 1.15142923e+01] [ 1.91564562e-02 9.99755287e-01 1.10632973e-02 1.84751860e-01] [ 6.34723441e-03 -1.11867102e-02 9.99917282e-01 -1.81511182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79719347 meters Centerline goodness : 0.885527 Centerline is valid? [False, False] Translation: X:11.53, Y:0.18, Z:-1.82 [[ 9.99863511e-01 -1.63782331e-02 -2.17111847e-03 1.15266555e+01] [ 1.64268289e-02 9.99560853e-01 2.46629404e-02 1.79062845e-01] [ 1.76622964e-03 -2.46952388e-02 9.99693466e-01 -1.81986490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82719347 meters Centerline goodness : 0.883990 Centerline is valid? [False, False] Translation: X:11.53, Y:0.18, Z:-1.82 [[ 9.99870280e-01 -1.59257409e-02 -2.40698785e-03 1.15275833e+01] [ 1.59824333e-02 9.99541227e-01 2.57273595e-02 1.76764902e-01] [ 1.99615632e-03 -2.57624917e-02 9.99666099e-01 -1.82031939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85719347 meters Centerline goodness : 0.881769 Centerline is valid? [False, False] Translation: X:11.53, Y:0.18, Z:-1.82 [[ 9.99881765e-01 -1.51517246e-02 -2.62321921e-03 1.15284619e+01] [ 1.52164787e-02 9.99526810e-01 2.67322811e-02 1.75058490e-01] [ 2.21693777e-03 -2.67690366e-02 9.99639187e-01 -1.82082965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88719347 meters Centerline goodness : 0.883145 Centerline is valid? [False, False] Translation: X:11.53, Y:0.17, Z:-1.82 [[ 9.99893072e-01 -1.44017034e-02 -2.53685978e-03 1.15285795e+01] [ 1.44657834e-02 9.99520671e-01 2.73709589e-02 1.74240213e-01] [ 2.14145536e-03 -2.74047298e-02 9.99622126e-01 -1.82115168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91719347 meters Centerline goodness : 0.879566 Centerline is valid? [False, False] Translation: X:11.54, Y:0.17, Z:-1.83 [[ 9.99952618e-01 -5.79662806e-03 -7.82057016e-03 1.15353570e+01] [ 5.95371735e-03 9.99777925e-01 2.02152111e-02 1.69067133e-01] [ 7.70165334e-03 -2.02608148e-02 9.99765064e-01 -1.82558273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94719347 meters Centerline goodness : 0.877711 Centerline is valid? [False, False] Translation: X:11.54, Y:0.16, Z:-1.83 [[ 9.99945729e-01 -5.28804880e-03 -8.97642417e-03 1.15410482e+01] [ 5.47609616e-03 9.99763314e-01 2.10553518e-02 1.64803483e-01] [ 8.86295785e-03 -2.11033649e-02 9.99738014e-01 -1.82989580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97719347 meters Centerline goodness : 0.872771 Centerline is valid? [False, False] Translation: X:11.55, Y:0.16, Z:-1.83 [[ 9.99934654e-01 -5.71741611e-03 -9.89941803e-03 1.15454621e+01] [ 5.92447050e-03 9.99761620e-01 2.10143836e-02 1.59580277e-01] [ 9.77691023e-03 -2.10716593e-02 9.99730162e-01 -1.83307609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00719347 meters Centerline goodness : 0.874504 Centerline is valid? [False, False] Translation: X:11.55, Y:0.15, Z:-1.83 [[ 9.99916925e-01 -7.42212729e-03 -1.05382561e-02 1.15481388e+01] [ 7.63024064e-03 9.99773903e-01 1.98474568e-02 1.54716665e-01] [ 1.03885631e-02 -1.99262174e-02 9.99747480e-01 -1.83473369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03719347 meters Centerline goodness : 0.875802 Centerline is valid? [False, False] Translation: X:11.56, Y:0.14, Z:-1.84 [[ 9.99948840e-01 -7.78812588e-03 -6.45470904e-03 1.15643434e+01] [ 7.95569385e-03 9.99620993e-01 2.63548218e-02 1.40707148e-01] [ 6.24700799e-03 -2.64048251e-02 9.99631812e-01 -1.83655087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06719347 meters Centerline goodness : 0.875734 Centerline is valid? [False, False] Translation: X:11.57, Y:0.14, Z:-1.84 [[ 9.99924181e-01 -1.02718895e-02 -6.79117633e-03 1.15653035e+01] [ 1.04358083e-02 9.99643908e-01 2.45591203e-02 1.36004537e-01] [ 6.53648948e-03 -2.46281297e-02 9.99675312e-01 -1.83660291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09719347 meters Centerline goodness : 0.875870 Centerline is valid? [False, False] Translation: X:11.57, Y:0.13, Z:-1.84 [[ 9.99896603e-01 -1.24673483e-02 -7.16576958e-03 1.15665673e+01] [ 1.26303631e-02 9.99651685e-01 2.31728715e-02 1.30593981e-01] [ 6.87436938e-03 -2.32609817e-02 9.99705792e-01 -1.83688023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12719347 meters Centerline goodness : 0.875870 Centerline is valid? [False, False] Translation: X:11.57, Y:0.13, Z:-1.84 [[ 9.99896603e-01 -1.24673483e-02 -7.16576958e-03 1.15665673e+01] [ 1.26303631e-02 9.99651685e-01 2.31728715e-02 1.30593981e-01] [ 6.87436938e-03 -2.32609817e-02 9.99705792e-01 -1.83688023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15719347 meters Centerline goodness : 0.875511 Centerline is valid? [False, False] Translation: X:11.57, Y:0.12, Z:-1.84 [[ 9.99861058e-01 -1.49891799e-02 -7.29305750e-03 1.15668210e+01] [ 1.51470115e-02 9.99641232e-01 2.20901444e-02 1.24830464e-01] [ 6.95932784e-03 -2.21975432e-02 9.99729382e-01 -1.83611812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18719347 meters Centerline goodness : 0.874839 Centerline is valid? [False, False] Translation: X:11.57, Y:0.11, Z:-1.84 [[ 9.99790934e-01 -1.90568467e-02 -7.41107332e-03 1.15676366e+01] [ 1.92045898e-02 9.99607367e-01 2.04033168e-02 1.11657403e-01] [ 7.01934061e-03 -2.05413777e-02 9.99764363e-01 -1.83549389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21719347 meters Centerline goodness : 0.873017 Centerline is valid? [False, False] Translation: X:11.57, Y:0.11, Z:-1.84 [[ 9.99727018e-01 -2.21291772e-02 -7.49597699e-03 1.15684104e+01] [ 2.22641450e-02 9.99582276e-01 1.84277542e-02 1.05622627e-01] [ 7.08505470e-03 -1.85896152e-02 9.99802095e-01 -1.83587682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24719347 meters Centerline goodness : 0.873083 Centerline is valid? [False, False] Translation: X:11.57, Y:0.10, Z:-1.84 [[ 9.99670165e-01 -2.43803088e-02 -8.07229655e-03 1.15707081e+01] [ 2.45168703e-02 9.99550162e-01 1.72741610e-02 9.88771845e-02] [ 7.64751594e-03 -1.74663708e-02 9.99818204e-01 -1.83708857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27719347 meters Centerline goodness : 0.875090 Centerline is valid? [False, False] Translation: X:11.57, Y:0.09, Z:-1.84 [[ 9.99603906e-01 -2.69237830e-02 -8.19398174e-03 1.15719704e+01] [ 2.70499001e-02 9.99510931e-01 1.56908281e-02 9.29030627e-02] [ 7.76751786e-03 -1.59062594e-02 9.99843316e-01 -1.83798128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30719347 meters Centerline goodness : 0.874324 Centerline is valid? [False, False] Translation: X:11.57, Y:0.09, Z:-1.84 [[ 9.99556875e-01 -2.84570943e-02 -8.73197950e-03 1.15748789e+01] [ 2.85860906e-02 9.99478453e-01 1.50218867e-02 8.73508727e-02] [ 8.29994612e-03 -1.52648433e-02 9.99849036e-01 -1.84012640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33719347 meters Centerline goodness : 0.875263 Centerline is valid? [False, False] Translation: X:11.58, Y:0.08, Z:-1.84 [[ 9.99485989e-01 -3.05297924e-02 -9.78209340e-03 1.15785188e+01] [ 3.06689549e-02 9.99425763e-01 1.44068978e-02 7.56419505e-02] [ 9.33663656e-03 -1.46994991e-02 9.99848364e-01 -1.84143325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36719347 meters Centerline goodness : 0.872348 Centerline is valid? [False, False] Translation: X:11.58, Y:0.07, Z:-1.84 [[ 9.99399094e-01 -3.32435376e-02 -9.81416274e-03 1.15788868e+01] [ 3.33675429e-02 9.99361765e-01 1.27541939e-02 6.96623973e-02] [ 9.38390448e-03 -1.30740044e-02 9.99870498e-01 -1.84128366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39719347 meters Centerline goodness : 0.871222 Centerline is valid? [False, False] Translation: X:11.58, Y:0.06, Z:-1.84 [[ 9.99312891e-01 -3.56341950e-02 -1.01955534e-02 1.15800445e+01] [ 3.57495871e-02 9.99296111e-01 1.13687566e-02 6.33177757e-02] [ 9.78326036e-03 -1.17254319e-02 9.99883394e-01 -1.84131440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42719347 meters Centerline goodness : 0.873039 Centerline is valid? [False, False] Translation: X:11.58, Y:0.05, Z:-1.84 [[ 9.99233534e-01 -3.77744957e-02 -1.02679921e-02 1.15791958e+01] [ 3.78843769e-02 9.99224561e-01 1.07261392e-02 5.11211054e-02] [ 9.85485545e-03 -1.11069144e-02 9.99889753e-01 -1.83913110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45719347 meters Centerline goodness : 0.874696 Centerline is valid? [False, False] Translation: X:11.59, Y:0.05, Z:-1.84 [[ 9.99241995e-01 -3.83209705e-02 -6.85118430e-03 1.15851708e+01] [ 3.83151185e-02 9.99265222e-01 -9.83437564e-04 4.82969639e-02] [ 6.88383648e-03 7.20188175e-04 9.99976047e-01 -1.83711294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48719347 meters Centerline goodness : 0.877004 Centerline is valid? [False, False] Translation: X:11.59, Y:0.04, Z:-1.84 [[ 9.99148291e-01 -4.06607969e-02 -7.02801714e-03 1.15851645e+01] [ 4.06430699e-02 9.99170223e-01 -2.64706991e-03 4.36154135e-02] [ 7.12981742e-03 2.35917518e-03 9.99971800e-01 -1.83617699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51719347 meters Centerline goodness : 0.874477 Centerline is valid? [False, False] Translation: X:11.59, Y:0.04, Z:-1.84 [[ 9.99171378e-01 -4.00338961e-02 -7.33791994e-03 1.15855123e+01] [ 4.00282302e-02 9.99198128e-01 -9.17447572e-04 3.74579405e-02] [ 7.36876487e-03 6.22963406e-04 9.99972656e-01 -1.83561919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54719347 meters Centerline goodness : 0.880368 Centerline is valid? [False, False] Translation: X:11.59, Y:0.03, Z:-1.84 [[ 9.99072903e-01 -4.23576564e-02 -7.69171714e-03 1.15864852e+01] [ 4.23511672e-02 9.99102282e-01 -1.00466413e-03 2.77236606e-02] [ 7.72736736e-03 6.77979510e-04 9.99969914e-01 -1.83513770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57719347 meters Centerline goodness : 0.878246 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:-1.84 [[ 9.98942712e-01 -4.52783440e-02 -7.95800655e-03 1.15875827e+01] [ 4.52553599e-02 9.98970811e-01 -3.04498980e-03 2.29445782e-02] [ 8.08768835e-03 2.68162792e-03 9.99963698e-01 -1.83537018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60719347 meters Centerline goodness : 0.877283 Centerline is valid? [False, False] Translation: X:11.59, Y:0.02, Z:-1.84 [[ 9.98803787e-01 -4.81843342e-02 -8.32261607e-03 1.15892252e+01] [ 4.81445361e-02 9.98828272e-01 -4.91796000e-03 1.76006371e-02] [ 8.54983285e-03 4.51138858e-03 9.99953273e-01 -1.83604202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63719347 meters Centerline goodness : 0.877624 Centerline is valid? [False, False] Translation: X:11.59, Y:0.01, Z:-1.84 [[ 9.98676747e-01 -5.07095079e-02 -8.56155300e-03 1.15906769e+01] [ 5.06536654e-02 9.98694351e-01 -6.61810529e-03 1.24808617e-02] [ 8.88597548e-03 6.17567382e-03 9.99941449e-01 -1.83675652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66719347 meters Centerline goodness : 0.880647 Centerline is valid? [False, False] Translation: X:11.59, Y:0.00, Z:-1.84 [[ 9.98541850e-01 -5.33134265e-02 -8.47654411e-03 1.15910260e+01] [ 5.32506768e-02 9.98553282e-01 -7.46385459e-03 4.51784500e-03] [ 8.86220460e-03 7.00158946e-03 9.99936218e-01 -1.83660833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69719347 meters Centerline goodness : 0.879434 Centerline is valid? [False, False] Translation: X:11.60, Y:0.00, Z:-1.84 [[ 9.98635636e-01 -5.20693460e-02 -3.95589733e-03 1.16034342e+01] [ 5.20076502e-02 9.98543424e-01 -1.43608693e-02 2.59475207e-03] [ 4.69789633e-03 1.41355389e-02 9.99889052e-01 -1.84050570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72719347 meters Centerline goodness : 0.878406 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98571315e-01 -5.32349290e-02 -4.62293582e-03 1.16056877e+01] [ 5.31637264e-02 9.98482579e-01 -1.43581862e-02 -5.63270505e-03] [ 5.38027790e-03 1.40919003e-02 9.99886229e-01 -1.84140551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75719347 meters Centerline goodness : 0.876242 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98630708e-01 -5.20414500e-02 -5.32886034e-03 1.16080272e+01] [ 5.19720910e-02 9.98571327e-01 -1.24180010e-02 -1.01127278e-02] [ 5.96749792e-03 1.21240452e-02 9.99908694e-01 -1.84277893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78719347 meters Centerline goodness : 0.875601 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98684059e-01 -5.09204817e-02 -6.10364491e-03 1.16104216e+01] [ 5.08524728e-02 9.98647530e-01 -1.08229407e-02 -1.30316801e-02] [ 6.64649927e-03 1.04983130e-02 9.99922802e-01 -1.84419140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81719347 meters Centerline goodness : 0.875911 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.01, Z:-1.84 [[ 9.98713226e-01 -5.03158966e-02 -6.34056314e-03 1.16111233e+01] [ 5.02509661e-02 9.98686412e-01 -1.00145255e-02 -1.43364747e-02] [ 6.83612409e-03 9.68301965e-03 9.99929751e-01 -1.84449500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84719347 meters Centerline goodness : 0.876044 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.02, Z:-1.85 [[ 9.98967739e-01 -4.54240566e-02 -3.33598810e-04 1.16221142e+01] [ 4.54152911e-02 9.98875116e-01 -1.36364945e-02 -1.50184533e-02] [ 9.52648448e-04 1.36072676e-02 9.99906963e-01 -1.84802431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87719347 meters Centerline goodness : 0.877799 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.01, Z:-1.84 [[ 9.99107694e-01 -4.22305728e-02 -6.28822895e-04 1.16363594e+01] [ 4.21936025e-02 9.98672816e-01 -2.95348317e-02 -1.44954194e-02] [ 1.87526119e-03 2.94819453e-02 9.99563554e-01 -1.84402561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90719347 meters Centerline goodness : 0.875316 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.99072848e-01 -4.27643969e-02 4.96504893e-03 1.16469879e+01] [ 4.28600379e-02 9.98858424e-01 -2.10918253e-02 -2.50246914e-02] [-4.05740176e-03 2.12850721e-02 9.99765214e-01 -1.84683491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93719347 meters Centerline goodness : 0.876891 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.99024004e-01 -4.39678635e-02 4.22694655e-03 1.16502480e+01] [ 4.40481673e-02 9.98802716e-01 -2.12813083e-02 -2.87934790e-02] [-3.28619203e-03 2.14467271e-02 9.99764592e-01 -1.84910647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96719347 meters Centerline goodness : 0.875243 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.98932957e-01 -4.60524188e-02 3.48161621e-03 1.16536798e+01] [ 4.61187682e-02 9.98687346e-01 -2.22855133e-02 -3.23663515e-02] [-2.45074426e-03 2.24223015e-02 9.99745585e-01 -1.85159524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99719346999998 meters Centerline goodness : 0.875512 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:-1.85 [[ 9.98748072e-01 -4.99099342e-02 3.35957560e-03 1.16548563e+01] [ 4.99795802e-02 9.98424271e-01 -2.55150412e-02 -3.46878208e-02] [-2.08082780e-03 2.56510083e-02 9.99668793e-01 -1.85237696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02719347 meters Centerline goodness : 0.873867 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.04, Z:-1.85 [[ 9.98309661e-01 -5.80127615e-02 3.51294346e-03 1.16556618e+01] [ 5.80952228e-02 9.97805982e-01 -3.17516417e-02 -4.09441982e-02] [-1.66323558e-03 3.19020559e-02 9.99489616e-01 -1.85244498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05719347 meters Centerline goodness : 0.874629 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.04, Z:-1.85 [[ 9.98061043e-01 -6.21528708e-02 3.34297673e-03 1.16568408e+01] [ 6.22319859e-02 9.97445706e-01 -3.50605675e-02 -4.36438718e-02] [-1.15532286e-03 3.52006267e-02 9.99379598e-01 -1.85288871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08719347 meters Centerline goodness : 0.874431 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.85 [[ 9.97794738e-01 -6.63000289e-02 3.15708825e-03 1.16582553e+01] [ 6.63725702e-02 9.97046282e-01 -3.86444532e-02 -4.55335898e-02] [-5.85634741e-04 3.87687761e-02 9.99248037e-01 -1.85363836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11719347 meters Centerline goodness : 0.875100 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97606922e-01 -6.90875633e-02 2.70873695e-03 1.16612533e+01] [ 6.91405327e-02 9.96769143e-01 -4.08761927e-02 -4.75694905e-02] [ 1.24051142e-04 4.09656563e-02 9.99160547e-01 -1.85581124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14719347 meters Centerline goodness : 0.874474 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97277463e-01 -7.37012670e-02 2.40500927e-03 1.16632062e+01] [ 7.37348992e-02 9.96269418e-01 -4.48376159e-02 -4.90306535e-02] [ 9.08551918e-04 4.48928770e-02 9.98991393e-01 -1.85680657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17719347 meters Centerline goodness : 0.873017 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97264411e-01 -7.38838971e-02 2.20545430e-03 1.16637900e+01] [ 7.39083418e-02 9.96254719e-01 -4.48786298e-02 -4.89083636e-02] [ 1.11861382e-03 4.49188618e-02 9.98990012e-01 -1.85698557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20719347 meters Centerline goodness : 0.872094 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:-1.86 [[ 9.97525598e-01 -7.02825760e-02 1.74404177e-03 1.16640966e+01] [ 7.02953381e-02 9.96698626e-01 -4.06252807e-02 -5.01272590e-02] [ 1.11696534e-03 4.06473554e-02 9.99172930e-01 -1.85673501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23719347 meters Centerline goodness : 0.870837 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.05, Z:-1.86 [[ 9.97747840e-01 -6.70680118e-02 1.06302073e-03 1.16651583e+01] [ 6.70613938e-02 9.97063215e-01 -3.69826171e-02 -5.10424264e-02] [ 1.42045173e-03 3.69706140e-02 9.99315344e-01 -1.85683738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26719347 meters Centerline goodness : 0.870223 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.05, Z:-1.86 [[ 9.98062958e-01 -6.16689111e-02 8.20230682e-03 1.16749390e+01] [ 6.19519211e-02 9.97257341e-01 -4.04938878e-02 -4.81812119e-02] [-5.68259673e-03 4.09235981e-02 9.99146119e-01 -1.85992521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29719347 meters Centerline goodness : 0.869468 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.05, Z:-1.86 [[ 9.98292844e-01 -5.78734183e-02 7.87815705e-03 1.16751824e+01] [ 5.81257511e-02 9.97628829e-01 -3.68526251e-02 -4.64949442e-02] [-5.72668920e-03 3.72476357e-02 9.99289657e-01 -1.85995535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32719347 meters Centerline goodness : 0.869062 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.05, Z:-1.86 [[ 9.98634508e-01 -5.18028718e-02 6.75140313e-03 1.16778746e+01] [ 5.19849984e-02 9.98185534e-01 -3.03842075e-02 -4.51071384e-02] [-5.16516373e-03 3.06936898e-02 9.99515492e-01 -1.86143575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35719347 meters Centerline goodness : 0.868359 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.04, Z:-1.86 [[ 9.98824142e-01 -4.80920940e-02 6.12234974e-03 1.16789721e+01] [ 4.82409921e-02 9.98468398e-01 -2.70862527e-02 -4.25880692e-02] [-4.81033812e-03 2.73497514e-02 9.99614352e-01 -1.86181593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38719347 meters Centerline goodness : 0.865941 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.04, Z:-1.86 [[ 9.99235609e-01 -3.83334939e-02 7.66432761e-03 1.17011382e+01] [ 3.85857091e-02 9.98605345e-01 -3.60348079e-02 -3.84919783e-02] [-6.27229843e-03 3.63029968e-02 9.99321145e-01 -1.86255459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41719347 meters Centerline goodness : 0.864301 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.04, Z:-1.86 [[ 9.99305046e-01 -3.56268543e-02 1.09613635e-02 1.17183534e+01] [ 3.60190031e-02 9.98630543e-01 -3.79429781e-02 -3.52748840e-02] [-9.59456348e-03 3.83114269e-02 9.99219785e-01 -1.86354692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44719347 meters Centerline goodness : 0.865490 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.03, Z:-1.86 [[ 9.99429528e-01 -3.20987041e-02 1.05020225e-02 1.17189626e+01] [ 3.24439047e-02 9.98876510e-01 -3.45414229e-02 -3.35241090e-02] [-9.38148863e-03 3.48624446e-02 9.99348086e-01 -1.86333692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47719347 meters Centerline goodness : 0.865132 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.03, Z:-1.86 [[ 9.99537424e-01 -2.86446425e-02 1.02187109e-02 1.17193981e+01] [ 2.89506203e-02 9.99094738e-01 -3.11699620e-02 -3.14371189e-02] [-9.31660790e-03 3.14513816e-02 9.99461861e-01 -1.86326595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50719347 meters Centerline goodness : 0.865571 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.03, Z:-1.86 [[ 9.99726577e-01 -2.16971091e-02 8.71819080e-03 1.17461625e+01] [ 2.19969731e-02 9.99112789e-01 -3.59133475e-02 -2.66210411e-02] [-7.93124010e-03 3.60953018e-02 9.99316879e-01 -1.86215822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53719347 meters Centerline goodness : 0.863258 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.03, Z:-1.86 [[ 9.99731308e-01 -2.14499834e-02 8.78696919e-03 1.17462508e+01] [ 2.17554378e-02 9.99104744e-01 -3.62823829e-02 -2.51981081e-02] [-8.00084609e-03 3.64637985e-02 9.99302946e-01 -1.86199598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56719347 meters Centerline goodness : 0.864756 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.03, Z:-1.86 [[ 9.99776167e-01 -1.81629457e-02 1.08500386e-02 1.17650758e+01] [ 1.85391559e-02 9.99192622e-01 -3.56427182e-02 -2.52698787e-02] [-1.01939018e-02 3.58358907e-02 9.99305696e-01 -1.86275988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59719347 meters Centerline goodness : 0.863083 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.03, Z:-1.86 [[ 9.99866674e-01 -1.37756840e-02 8.76721528e-03 1.17741930e+01] [ 1.41282924e-02 9.99037954e-01 -4.15157519e-02 -2.55372473e-02] [-8.18687294e-03 4.16340825e-02 9.99099384e-01 -1.86072604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62719347 meters Centerline goodness : 0.864773 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.03, Z:-1.86 [[ 9.99878397e-01 -1.03436988e-02 1.16704248e-02 1.17921197e+01] [ 1.08017825e-02 9.99145428e-01 -3.98965468e-02 -2.65076603e-02] [-1.12477737e-02 4.00177566e-02 9.99135660e-01 -1.86142187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65719347 meters Centerline goodness : 0.862459 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.03, Z:-1.86 [[ 9.99923521e-01 -4.53957877e-03 1.15041063e-02 1.17943017e+01] [ 4.92336906e-03 9.99424731e-01 -3.35554299e-02 -2.79184717e-02] [-1.13451609e-02 3.36095026e-02 9.99370646e-01 -1.86384323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68719347 meters Centerline goodness : 0.861603 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.03, Z:-1.87 [[ 9.99943037e-01 -1.77635418e-03 1.05246161e-02 1.17976528e+01] [ 2.09245328e-03 9.99544709e-01 -3.00997834e-02 -2.83342434e-02] [-1.04663564e-02 3.01200911e-02 9.99491488e-01 -1.86597870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71719347 meters Centerline goodness : 0.864669 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.03, Z:-1.87 [[ 9.99952100e-01 1.15698885e-03 9.71902381e-03 1.18006955e+01] [-8.99662433e-04 9.99650015e-01 -2.64393408e-02 -3.00693522e-02] [-9.74621232e-03 2.64293305e-02 9.99603172e-01 -1.86802900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74719346999998 meters Centerline goodness : 0.859280 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.04, Z:-1.87 [[ 9.99960461e-01 4.41189947e-05 8.89240072e-03 1.18037051e+01] [ 1.95661893e-04 9.99636439e-01 -2.69620229e-02 -3.69785672e-02] [-8.89035733e-03 2.69626968e-02 9.99596906e-01 -1.87015645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77719347 meters Centerline goodness : 0.858432 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.04, Z:-1.87 [[ 9.99963368e-01 4.91050128e-04 8.54529300e-03 1.18045459e+01] [-2.72323666e-04 9.99672780e-01 -2.55784976e-02 -4.28025481e-02] [-8.55505713e-03 2.55752335e-02 9.99636293e-01 -1.87040720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80719347 meters Centerline goodness : 0.866923 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.05, Z:-1.87 [[ 9.99967080e-01 1.35282359e-04 8.11302173e-03 1.18060787e+01] [ 7.00724979e-05 9.99679746e-01 -2.53061353e-02 -4.69800189e-02] [-8.11384697e-03 2.53058707e-02 9.99646827e-01 -1.87130306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83719347 meters Centerline goodness : 0.861290 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.05, Z:-1.87 [[ 9.99968088e-01 7.70714603e-04 7.95164063e-03 1.18062243e+01] [-5.78498754e-04 9.99708248e-01 -2.41471491e-02 -4.96450174e-02] [-7.96793128e-03 2.41417785e-02 9.99676791e-01 -1.87104738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86719347 meters Centerline goodness : 0.864429 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.05, Z:-1.87 [[ 9.99965363e-01 2.91484385e-03 7.79591836e-03 1.18075252e+01] [-2.74812019e-03 9.99769099e-01 -2.13118963e-02 -5.29100355e-02] [-7.85623912e-03 2.12897340e-02 9.99742480e-01 -1.87213187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89719347 meters Centerline goodness : 0.863639 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.05, Z:-1.87 [[ 9.99937800e-01 1.81471532e-03 1.10047106e-02 1.18247022e+01] [-1.52582582e-03 9.99655471e-01 -2.62032507e-02 -5.32918516e-02] [-1.10484706e-02 2.61848296e-02 9.99596061e-01 -1.87309401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92719347 meters Centerline goodness : 0.864152 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.06, Z:-1.87 [[ 9.99938522e-01 2.13523019e-03 1.08808437e-02 1.18247755e+01] [-1.86544659e-03 9.99692068e-01 -2.47444763e-02 -5.73432711e-02] [-1.09303283e-02 2.47226574e-02 9.99634592e-01 -1.87273404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95719347 meters Centerline goodness : 0.863395 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.06, Z:-1.87 [[ 9.99940169e-01 -1.30973401e-03 1.08601745e-02 1.18246899e+01] [ 1.60594171e-03 9.99625696e-01 -2.73109654e-02 -6.11593779e-02] [-1.08203394e-02 2.73267721e-02 9.99567991e-01 -1.87253957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98719347 meters Centerline goodness : 0.863395 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.06, Z:-1.87 [[ 9.99939515e-01 -1.36433253e-03 1.09134880e-02 1.18246546e+01] [ 1.66062302e-03 9.99629008e-01 -2.71861938e-02 -6.14964388e-02] [-1.08723481e-02 2.72026727e-02 9.99570811e-01 -1.87250349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01719347 meters Centerline goodness : 0.863674 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.07, Z:-1.87 [[ 9.99928834e-01 -5.04698717e-03 1.08099796e-02 1.18246624e+01] [ 5.36445284e-03 9.99549114e-01 -2.95430269e-02 -6.65765409e-02] [-1.06560022e-02 2.95989141e-02 9.99505054e-01 -1.87209077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04719347 meters Centerline goodness : 0.865599 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.87 [[ 9.99837550e-01 -1.48542930e-02 1.02089755e-02 1.18263417e+01] [ 1.52157756e-02 9.99225337e-01 -3.62933436e-02 -7.55166290e-02] [-9.66195506e-03 3.64427852e-02 9.99289032e-01 -1.87163207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07719347 meters Centerline goodness : 0.868138 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.87 [[ 9.99765489e-01 -1.91931592e-02 1.00294642e-02 1.18276441e+01] [ 1.95775155e-02 9.99018085e-01 -3.97440255e-02 -7.82416203e-02] [-9.25680273e-03 3.99310570e-02 9.99159558e-01 -1.87276786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10719347 meters Centerline goodness : 0.869924 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.87 [[ 9.99713270e-01 -2.19549900e-02 9.55801022e-03 1.18302884e+01] [ 2.23355045e-02 9.98879911e-01 -4.17138813e-02 -8.07616353e-02] [-8.63147656e-03 4.19154037e-02 9.99083879e-01 -1.87491405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13719347 meters Centerline goodness : 0.869296 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.08, Z:-1.88 [[ 9.99692269e-01 -2.32242667e-02 8.71787487e-03 1.18333641e+01] [ 2.35720774e-02 9.98832113e-01 -4.21754385e-02 -8.21998471e-02] [-7.72819974e-03 4.23679583e-02 9.99072185e-01 -1.87680396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16719347 meters Centerline goodness : 0.868923 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.08, Z:-1.88 [[ 9.99716453e-01 -2.23981676e-02 8.08304546e-03 1.18367588e+01] [ 2.27087098e-02 9.98916371e-01 -4.06250985e-02 -8.36030693e-02] [-7.16435868e-03 4.07971349e-02 9.99141765e-01 -1.87961520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19719347 meters Centerline goodness : 0.870074 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.09, Z:-1.88 [[ 9.99775872e-01 -1.98842163e-02 7.26798329e-03 1.18393990e+01] [ 2.01431056e-02 9.99094464e-01 -3.74767666e-02 -8.51983662e-02] [-6.51620573e-03 3.76147668e-02 9.99271069e-01 -1.88105674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22719347 meters Centerline goodness : 0.869974 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.09, Z:-1.88 [[ 9.99793386e-01 -1.83033679e-02 8.84147594e-03 1.18588717e+01] [ 1.86383357e-02 9.99048913e-01 -3.94193173e-02 -8.51823701e-02] [-8.11156066e-03 3.95759631e-02 9.99183640e-01 -1.88238289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25719347 meters Centerline goodness : 0.870934 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.08, Z:-1.88 [[ 9.99792862e-01 -1.70885490e-02 1.10550575e-02 1.18774501e+01] [ 1.75371216e-02 9.98970440e-01 -4.18390999e-02 -8.41302261e-02] [-1.03287061e-02 4.20243074e-02 9.99063199e-01 -1.88314654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28719347 meters Centerline goodness : 0.873622 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.08, Z:-1.88 [[ 9.99766634e-01 -1.95825955e-02 9.12139981e-03 1.18811629e+01] [ 1.99578769e-02 9.98873522e-01 -4.30507781e-02 -8.13751801e-02] [-8.26807878e-03 4.32227753e-02 9.99031246e-01 -1.88250459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31719347 meters Centerline goodness : 0.873232 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.08, Z:-1.88 [[ 9.99748900e-01 -2.07587149e-02 8.43874346e-03 1.18830476e+01] [ 2.11085316e-02 9.98820491e-01 -4.37270618e-02 -8.13911872e-02] [-7.52107228e-03 4.38942114e-02 9.99007874e-01 -1.88319440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34719347 meters Centerline goodness : 0.876441 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.08, Z:-1.88 [[ 9.99499280e-01 -3.03757515e-02 8.86024339e-03 1.19019382e+01] [ 3.06907591e-02 9.98810224e-01 -3.78974217e-02 -8.01634984e-02] [-7.69853902e-03 3.81503733e-02 9.99242354e-01 -1.88265110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37719347 meters Centerline goodness : 0.879579 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.08, Z:-1.88 [[ 9.99454981e-01 -3.19483700e-02 8.30918830e-03 1.19044852e+01] [ 3.22509722e-02 9.98708041e-01 -3.92698770e-02 -7.81555532e-02] [-7.04384461e-03 3.95164536e-02 9.99194092e-01 -1.88447480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40719347 meters Centerline goodness : 0.879089 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.08, Z:-1.88 [[ 9.99329674e-01 -3.59969076e-02 6.66527081e-03 1.19206259e+01] [ 3.61742095e-02 9.98932492e-01 -2.87280736e-02 -7.65647694e-02] [-5.62403377e-03 2.89499273e-02 9.99565041e-01 -1.88168709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43719347 meters Centerline goodness : 0.880222 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.08, Z:-1.88 [[ 9.99357733e-01 -3.51668790e-02 6.88564616e-03 1.19418700e+01] [ 3.53485526e-02 9.98973410e-01 -2.83302856e-02 -7.52890345e-02] [-5.88228969e-03 2.85554877e-02 9.99574901e-01 -1.88316042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46719347 meters Centerline goodness : 0.877750 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.07, Z:-1.88 [[ 9.99322122e-01 -3.62329185e-02 6.51711675e-03 1.19434342e+01] [ 3.64092475e-02 9.98905799e-01 -2.93525462e-02 -7.32642315e-02] [-5.44645730e-03 2.95699321e-02 9.99547875e-01 -1.88418211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49719346999998 meters Centerline goodness : 0.882235 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.07, Z:-1.89 [[ 9.99266785e-01 -3.79761273e-02 4.86897147e-03 1.19673451e+01] [ 3.81199227e-02 9.98695773e-01 -3.39650419e-02 -6.70887242e-02] [-3.57276047e-03 3.41257430e-02 9.99411161e-01 -1.88773122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52719347 meters Centerline goodness : 0.880660 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.06, Z:-1.89 [[ 9.99333386e-01 -3.62991640e-02 3.89281847e-03 1.19704755e+01] [ 3.64061660e-02 9.98814812e-01 -3.23042206e-02 -6.39153826e-02] [-2.71558854e-03 3.24244088e-02 9.99470501e-01 -1.88944128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55719347 meters Centerline goodness : 0.878793 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.06, Z:-1.89 [[ 9.99434533e-01 -3.34656938e-02 3.26520070e-03 1.19721031e+01] [ 3.35480431e-02 9.98995563e-01 -2.97051203e-02 -6.09840449e-02] [-2.26781855e-03 2.97978642e-02 9.99553372e-01 -1.89010816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58719347 meters Centerline goodness : 0.877778 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.06, Z:-1.89 [[ 9.99527583e-01 -3.06177140e-02 2.67693912e-03 1.19735703e+01] [ 3.06793035e-02 9.99158684e-01 -2.72159052e-02 -5.73897868e-02] [-1.84139817e-03 2.72851746e-02 9.99625994e-01 -1.89063035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61719347 meters Centerline goodness : 0.879753 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.04, Z:-1.89 [[ 9.99699925e-01 -2.40615396e-02 4.59369961e-03 1.19937767e+01] [ 2.41733918e-02 9.99367457e-01 -2.60831888e-02 -4.49028894e-02] [-3.96319222e-03 2.61864071e-02 9.99649221e-01 -1.89360214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64719347 meters Centerline goodness : 0.879207 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.04, Z:-1.89 [[ 9.99833028e-01 -1.78755526e-02 3.79223117e-03 1.19956137e+01] [ 1.79484108e-02 9.99636101e-01 -2.01375432e-02 -3.99428118e-02] [-3.43088147e-03 2.02022453e-02 9.99790027e-01 -1.89411827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67719347 meters Centerline goodness : 0.877044 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.03, Z:-1.90 [[ 9.99853122e-01 -1.51282965e-02 8.05415061e-03 1.20108800e+01] [ 1.53191916e-02 9.99589943e-01 -2.41923091e-02 -3.22803512e-02] [-7.68485953e-03 2.43121389e-02 9.99674879e-01 -1.89658458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70719347 meters Centerline goodness : 0.876842 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.02, Z:-1.90 [[ 9.99894238e-01 -1.25598539e-02 7.33233337e-03 1.20127968e+01] [ 1.27290515e-02 9.99642704e-01 -2.35039692e-02 -2.37769943e-02] [-7.03450713e-03 2.35948170e-02 9.99696854e-01 -1.89722177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73719347 meters Centerline goodness : 0.875011 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.02, Z:-1.90 [[ 9.99919415e-01 -9.88704934e-03 7.96299814e-03 1.20334717e+01] [ 1.00734508e-02 9.99667916e-01 -2.37188287e-02 -2.02334669e-02] [-7.72584453e-03 2.37971322e-02 9.99686955e-01 -1.89881062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76719347 meters Centerline goodness : 0.877836 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.02, Z:-1.90 [[ 9.99931852e-01 -6.72499677e-03 9.54284137e-03 1.20540720e+01] [ 6.95160846e-03 9.99689808e-01 -2.39157270e-02 -1.51239293e-02] [-9.37904807e-03 2.39804353e-02 9.99668431e-01 -1.90118529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79719347 meters Centerline goodness : 0.877247 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.01, Z:-1.90 [[ 9.99938318e-01 -2.97974113e-03 1.06995535e-02 1.20747789e+01] [ 3.22916949e-03 9.99721647e-01 -2.33709375e-02 -9.81966523e-03] [-1.06269359e-02 2.34040467e-02 9.99669605e-01 -1.90281755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82719347 meters Centerline goodness : 0.876310 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.00, Z:-1.90 [[ 9.99921076e-01 -6.06795535e-04 1.25488267e-02 1.20952097e+01] [ 9.22823705e-04 9.99682169e-01 -2.51934467e-02 -4.04859945e-03] [-1.25295510e-02 2.52030387e-02 9.99603830e-01 -1.90478429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85719347 meters Centerline goodness : 0.879820 Centerline is valid? [False, False] Translation: X:12.12, Y:0.01, Z:-1.90 [[ 9.99908679e-01 5.42044940e-03 1.23794781e-02 1.21176113e+01] [-5.04095029e-03 9.99522554e-01 -3.04836336e-02 5.15989986e-03] [-1.25388026e-02 3.04184455e-02 9.99458602e-01 -1.90094025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88719347 meters Centerline goodness : 0.876581 Centerline is valid? [False, False] Translation: X:12.13, Y:0.01, Z:-1.90 [[ 9.99831290e-01 8.15186838e-03 1.64602397e-02 1.21348391e+01] [-7.64887069e-03 9.99508746e-01 -3.03934513e-02 9.40330642e-03] [-1.66999170e-02 3.02624213e-02 9.99402471e-01 -1.90102077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91719347 meters Centerline goodness : 0.877673 Centerline is valid? [False, False] Translation: X:12.15, Y:0.01, Z:-1.90 [[ 9.99735325e-01 1.12726598e-02 2.00551032e-02 1.21529072e+01] [-1.06736227e-02 9.99500978e-01 -2.97299354e-02 1.38396378e-02] [-2.03802307e-02 2.95080061e-02 9.99356755e-01 -1.90159499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94719347 meters Centerline goodness : 0.876402 Centerline is valid? [False, False] Translation: X:12.17, Y:0.02, Z:-1.90 [[ 9.99686949e-01 1.23830543e-02 2.17408488e-02 1.21728814e+01] [-1.16727031e-02 9.99403509e-01 -3.25019055e-02 1.97182349e-02] [-2.21303535e-02 3.22379562e-02 9.99235188e-01 -1.90341451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97719347 meters Centerline goodness : 0.875645 Centerline is valid? [False, False] Translation: X:12.18, Y:0.02, Z:-1.90 [[ 0.99961281 0.01875545 0.02055373 12.17663212] [-0.01819058 0.99946085 -0.02733324 0.02464859] [-0.02105529 0.02694877 0.99941505 -1.90472281] [ 0. 0. 0. 1. ]] SLAMing on 141.00719347 meters Centerline goodness : 0.875988 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.91 [[ 0.99954418 0.02255009 0.02007323 12.17822634] [-0.02206348 0.99946505 -0.02414139 0.02625453] [-0.02060688 0.0236875 0.99950701 -1.90505876] [ 0. 0. 0. 1. ]] SLAMing on 141.03719347 meters Centerline goodness : 0.880081 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.90 [[ 0.99943929 0.02693569 0.01988929 12.17878351] [-0.02653098 0.99944105 -0.02033954 0.02793565] [-0.02042603 0.01980046 0.99959528 -1.9046996 ] [ 0. 0. 0. 1. ]] SLAMing on 141.06719347 meters Centerline goodness : 0.876712 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.90 [[ 0.99933261 0.03074968 0.01971802 12.17945498] [-0.03041356 0.99939068 -0.01712568 0.03006966] [-0.02023262 0.01651455 0.9996589 -1.90437429] [ 0. 0. 0. 1. ]] SLAMing on 141.09719347 meters Centerline goodness : 0.877909 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.91 [[ 9.99092846e-01 3.78304115e-02 1.95536501e-02 1.21810479e+01] [-3.76323221e-02 9.99237520e-01 -1.04012704e-02 3.24960339e-02] [-1.99322252e-02 9.65598557e-03 9.99754704e-01 -1.90505830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12719347 meters Centerline goodness : 0.876479 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.91 [[ 9.99097465e-01 3.80544973e-02 1.88708767e-02 1.21831747e+01] [-3.78569610e-02 9.99225699e-01 -1.07169332e-02 3.36483525e-02] [-1.92640924e-02 9.99286680e-03 9.99764491e-01 -1.90612949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15719347 meters Centerline goodness : 0.875610 Centerline is valid? [False, False] Translation: X:12.18, Y:0.03, Z:-1.90 [[ 9.99081967e-01 4.25449662e-02 5.01493910e-03 1.21834607e+01] [-4.25151628e-02 9.99078360e-01 -5.90687647e-03 3.23219677e-02] [-5.26162499e-03 5.68824281e-03 9.99969979e-01 -1.90311792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18719347 meters Centerline goodness : 0.878019 Centerline is valid? [False, False] Translation: X:12.19, Y:0.03, Z:-1.91 [[ 9.99016171e-01 4.41203416e-02 4.48159337e-03 1.21863190e+01] [-4.41022551e-02 9.99018783e-01 -4.05747547e-03 3.02195132e-02] [-4.65621316e-03 3.85583524e-03 9.99981726e-01 -1.90537909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21719347 meters Centerline goodness : 0.876457 Centerline is valid? [False, False] Translation: X:12.19, Y:0.03, Z:-1.91 [[ 9.98991487e-01 4.46869053e-02 4.36917189e-03 1.21868825e+01] [-4.46735087e-02 9.98996777e-01 -3.11718202e-03 2.74341985e-02] [-4.50408586e-03 2.91885206e-03 9.99985597e-01 -1.90590357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24719346999998 meters Centerline goodness : 0.877079 Centerline is valid? [False, False] Translation: X:12.19, Y:0.03, Z:-1.91 [[ 9.99073045e-01 4.28734333e-02 3.86252151e-03 1.21889260e+01] [-4.28539535e-02 9.99068874e-01 -4.99231455e-03 2.53838042e-02] [-4.07296269e-03 4.82216258e-03 9.99980079e-01 -1.90744677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27719347 meters Centerline goodness : 0.879806 Centerline is valid? [False, False] Translation: X:12.19, Y:0.02, Z:-1.91 [[ 9.99186397e-01 4.01397733e-02 3.91693845e-03 1.21887737e+01] [-4.01115293e-02 9.99170401e-01 -7.04094266e-03 2.10323295e-02] [-4.19631081e-03 6.87809974e-03 9.99967541e-01 -1.90779656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30719347 meters Centerline goodness : 0.878258 Centerline is valid? [False, False] Translation: X:12.19, Y:0.02, Z:-1.91 [[ 9.99289712e-01 3.75197491e-02 3.51288569e-03 1.21896975e+01] [-3.74852193e-02 9.99252713e-01 -9.42731103e-03 1.89781259e-02] [-3.86397090e-03 9.28893363e-03 9.99949391e-01 -1.90835726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33719347 meters Centerline goodness : 0.875344 Centerline is valid? [False, False] Translation: X:12.19, Y:0.01, Z:-1.91 [[ 9.99284044e-01 3.76960863e-02 3.22574576e-03 1.21906230e+01] [-3.76706198e-02 9.99261145e-01 -7.62151815e-03 1.32851799e-02] [-3.51066381e-03 7.49454563e-03 9.99965753e-01 -1.90923570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36719347 meters Centerline goodness : 0.880561 Centerline is valid? [False, False] Translation: X:12.19, Y:0.01, Z:-1.91 [[ 9.99395292e-01 3.46698695e-02 2.65542321e-03 1.21917074e+01] [-3.46427056e-02 9.99352969e-01 -9.67085229e-03 8.30534970e-03] [-2.98899226e-03 9.57301320e-03 9.99949710e-01 -1.90988141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39719347 meters Centerline goodness : 0.883458 Centerline is valid? [False, False] Translation: X:12.19, Y:0.00, Z:-1.91 [[ 9.99484532e-01 3.20156055e-02 2.38137927e-03 1.21926303e+01] [-3.19879112e-02 9.99429061e-01 -1.08777657e-02 2.21150619e-03] [-2.72827790e-03 1.07959832e-02 9.99938000e-01 -1.91109339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42719347 meters Centerline goodness : 0.883983 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.01, Z:-1.91 [[ 9.99640456e-01 2.67400031e-02 1.98268496e-03 1.21942917e+01] [-2.67117040e-02 9.99556815e-01 -1.31399335e-02 -9.48574877e-03] [-2.33316812e-03 1.30822482e-02 9.99911702e-01 -1.91376028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45719347 meters Centerline goodness : 0.888277 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.02, Z:-1.92 [[ 9.99636154e-01 2.68885304e-02 2.13695376e-03 1.21944780e+01] [-2.68653352e-02 9.99586731e-01 -1.02284872e-02 -1.69247278e-02] [-2.41109961e-03 1.01673556e-02 9.99945404e-01 -1.91529556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48719347 meters Centerline goodness : 0.883564 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.02, Z:-1.92 [[ 9.99710914e-01 2.39779871e-02 1.77325342e-03 1.21959659e+01] [-2.39556800e-02 9.99644768e-01 -1.16817282e-02 -2.19463139e-02] [-2.05272783e-03 1.16358717e-02 9.99930194e-01 -1.91707199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51719347 meters Centerline goodness : 0.891836 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.03, Z:-1.92 [[ 9.99780804e-01 2.08521164e-02 1.87988112e-03 1.21954312e+01] [-2.08306751e-02 9.99724869e-01 -1.07827836e-02 -3.39076507e-02] [-2.10420777e-03 1.07412608e-02 9.99940097e-01 -1.91798456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54719347 meters Centerline goodness : 0.892828 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.04, Z:-1.92 [[ 9.99840217e-01 1.78099810e-02 1.53107180e-03 1.21955928e+01] [-1.77894901e-02 9.99763721e-01 -1.24914205e-02 -3.92718011e-02] [-1.75318200e-03 1.24621876e-02 9.99920807e-01 -1.91782465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57719347 meters Centerline goodness : 0.894680 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.04, Z:-1.92 [[ 9.99895145e-01 1.44297067e-02 1.21776067e-03 1.21960090e+01] [-1.44100772e-02 9.99786230e-01 -1.48271177e-02 -4.40580188e-02] [-1.43145131e-03 1.48080150e-02 9.99889331e-01 -1.91770052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60719347 meters Centerline goodness : 0.895435 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.05, Z:-1.92 [[ 9.99942845e-01 1.06591389e-02 8.29844635e-04 1.21970456e+01] [-1.06428344e-02 9.99787550e-01 -1.76517549e-02 -4.78677267e-02] [-1.01782084e-03 1.76419142e-02 9.99843851e-01 -1.91812790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63719347 meters Centerline goodness : 0.898689 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.05, Z:-1.92 [[ 9.99975877e-01 6.93506879e-03 3.87893145e-04 1.21984929e+01] [-6.92560077e-03 9.99763558e-01 -2.06122441e-02 -5.07355745e-02] [-5.30748762e-04 2.06090605e-02 9.99787470e-01 -1.91894757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66719347 meters Centerline goodness : 0.899479 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.06, Z:-1.92 [[ 9.99998357e-01 -1.71077546e-03 -5.98969257e-04 1.21960965e+01] [ 1.70477550e-03 9.99949755e-01 -9.87830839e-03 -5.96796505e-02] [ 6.15838729e-04 9.87727106e-03 9.99951029e-01 -1.91758398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69719347 meters Centerline goodness : 0.901069 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.06, Z:-1.92 [[ 9.99967699e-01 -6.49716676e-03 4.73159520e-03 1.22057812e+01] [ 6.51742392e-03 9.99969608e-01 -4.27849428e-03 -6.46188571e-02] [-4.70365331e-03 4.30919389e-03 9.99979653e-01 -1.91969800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72719347 meters Centerline goodness : 0.901571 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.07, Z:-1.92 [[ 9.99932499e-01 -1.06962374e-02 4.53744553e-03 1.22064680e+01] [ 1.07322861e-02 9.99910435e-01 -7.99619105e-03 -6.64410677e-02] [-4.45150998e-03 8.04434846e-03 9.99957735e-01 -1.91987325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75719347 meters Centerline goodness : 0.905135 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.07, Z:-1.92 [[ 9.99923384e-01 -1.16255027e-02 4.25140858e-03 1.22075934e+01] [ 1.16587854e-02 9.99900909e-01 -7.88948113e-03 -6.88812584e-02] [-4.15926813e-03 7.93844293e-03 9.99959840e-01 -1.92041690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78719347 meters Centerline goodness : 0.902406 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.07, Z:-1.92 [[ 9.99884418e-01 -1.51735624e-02 9.56138687e-04 1.22316811e+01] [ 1.51841277e-02 9.99809901e-01 -1.22313101e-02 -6.82420115e-02] [-7.70364380e-04 1.22444145e-02 9.99924738e-01 -1.92281457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81719347 meters Centerline goodness : 0.902549 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.07, Z:-1.92 [[ 9.99869738e-01 -1.61324980e-02 4.98576432e-04 1.22333992e+01] [ 1.61376910e-02 9.99781894e-01 -1.32566675e-02 -6.63193435e-02] [-2.84604528e-04 1.32629865e-02 9.99912002e-01 -1.92371830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84719347 meters Centerline goodness : 0.903797 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.06, Z:-1.92 [[ 9.99852029e-01 -1.72010719e-02 2.05599534e-04 1.22347142e+01] [ 1.72022335e-02 9.99743336e-01 -1.47426255e-02 -6.29678220e-02] [ 4.80421975e-05 1.47439808e-02 9.99891300e-01 -1.92444415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87719347 meters Centerline goodness : 0.897618 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.06, Z:-1.93 [[ 9.99887760e-01 -1.49769602e-02 -3.98086597e-04 1.22365433e+01] [ 1.49709555e-02 9.99812760e-01 -1.22603501e-02 -6.10459204e-02] [ 5.81634835e-04 1.22530143e-02 9.99924760e-01 -1.92509538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90719347 meters Centerline goodness : 0.903344 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.05, Z:-1.93 [[ 9.99909468e-01 -1.32309748e-02 2.44888784e-03 1.22545909e+01] [ 1.32711400e-02 9.99764258e-01 -1.71844685e-02 -5.14606066e-02] [-2.22094326e-03 1.72154123e-02 9.99849337e-01 -1.92791222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93719347 meters Centerline goodness : 0.903344 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.05, Z:-1.93 [[ 9.99909468e-01 -1.32309748e-02 2.44888784e-03 1.22545909e+01] [ 1.32711400e-02 9.99764258e-01 -1.71844685e-02 -5.14606066e-02] [-2.22094326e-03 1.72154123e-02 9.99849337e-01 -1.92791222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96719347 meters Centerline goodness : 0.898791 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.05, Z:-1.93 [[ 9.99945532e-01 -1.01183482e-02 2.55972578e-03 1.22755807e+01] [ 1.01610229e-02 9.99799619e-01 -1.72474690e-02 -4.74642464e-02] [-2.38469696e-03 1.72725390e-02 9.99847975e-01 -1.92929560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99719346999998 meters Centerline goodness : 0.897019 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.04, Z:-1.93 [[ 9.99967809e-01 -7.46782732e-03 2.93473529e-03 1.22963601e+01] [ 7.52176070e-03 9.99794638e-01 -1.88176609e-02 -4.25053737e-02] [-2.79360557e-03 1.88391295e-02 9.99818625e-01 -1.93131757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02719347 meters Centerline goodness : 0.895263 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.03, Z:-1.94 [[ 9.99968490e-01 -3.84781641e-03 6.94360786e-03 1.23137736e+01] [ 4.01164325e-03 9.99710206e-01 -2.37362934e-02 -3.02568762e-02] [-6.85026274e-03 2.37634008e-02 9.99694141e-01 -1.93631207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05719347 meters Centerline goodness : 0.891027 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.02, Z:-1.94 [[ 9.99959456e-01 -8.45271896e-04 8.96504070e-03 1.23336966e+01] [ 1.06669055e-03 9.99693794e-01 -2.47220551e-02 -2.46072227e-02] [-8.94139870e-03 2.47306157e-02 9.99654164e-01 -1.93820804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08719347 meters Centerline goodness : 0.891652 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:-1.94 [[ 9.99959686e-01 2.36346916e-03 8.66259444e-03 1.23353152e+01] [-2.16782390e-03 9.99743923e-01 -2.25252878e-02 -1.91474004e-02] [-8.71361398e-03 2.25056007e-02 9.99708743e-01 -1.93919299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11719347 meters Centerline goodness : 0.887834 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.01, Z:-1.94 [[ 9.99935355e-01 1.07731824e-02 3.63656514e-03 1.23682503e+01] [-1.06572717e-02 9.99477486e-01 -3.05151964e-02 -6.31399757e-03] [-3.96341076e-03 3.04744679e-02 9.99527688e-01 -1.94112756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14719347 meters Centerline goodness : 0.885648 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.00, Z:-1.94 [[ 9.99849577e-01 1.70782499e-02 3.02586744e-03 1.23706573e+01] [-1.69991893e-02 9.99556079e-01 -2.44677820e-02 -3.91737722e-03] [-3.44239109e-03 2.44126642e-02 9.99696040e-01 -1.94221733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17719347 meters Centerline goodness : 0.886442 Centerline is valid? [False, False] Translation: X:12.37, Y:0.00, Z:-1.94 [[ 9.99781823e-01 2.07501135e-02 2.39573049e-03 1.23725648e+01] [-2.06916604e-02 9.99537650e-01 -2.22787084e-02 4.36177668e-04] [-2.85690855e-03 2.22242761e-02 9.99748928e-01 -1.94218625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20719347 meters Centerline goodness : 0.886918 Centerline is valid? [False, False] Translation: X:12.37, Y:0.00, Z:-1.94 [[ 9.99686078e-01 2.49618998e-02 2.15621439e-03 1.23730048e+01] [-2.49159256e-02 9.99504833e-01 -1.92167911e-02 3.61034290e-03] [-2.63483432e-03 1.91570344e-02 9.99813015e-01 -1.94132244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23719347 meters Centerline goodness : 0.883807 Centerline is valid? [False, False] Translation: X:12.37, Y:0.01, Z:-1.94 [[ 9.99567988e-01 2.93403794e-02 1.72636604e-03 1.23738642e+01] [-2.93057512e-02 9.99417445e-01 -1.74912219e-02 9.94276510e-03] [-2.23855942e-03 1.74330730e-02 9.99845526e-01 -1.94006314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26719347 meters Centerline goodness : 0.886732 Centerline is valid? [False, False] Translation: X:12.38, Y:0.01, Z:-1.94 [[ 9.99560994e-01 2.96087794e-02 1.06724760e-03 1.23756151e+01] [-2.95835840e-02 9.99386379e-01 -1.87530659e-02 1.40135597e-02] [-1.62184810e-03 1.87132602e-02 9.99823576e-01 -1.94021167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29719347 meters Centerline goodness : 0.886223 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99469070e-01 3.25800804e-02 3.41562697e-04 1.23782462e+01] [-3.25704170e-02 9.99340761e-01 -1.60378328e-02 1.58595655e-02] [-8.63851408e-04 1.60181930e-02 9.99871327e-01 -1.94149954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32719347 meters Centerline goodness : 0.885347 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99415506e-01 3.41840274e-02 -3.14978772e-04 1.23810745e+01] [-3.41849178e-02 9.99303918e-01 -1.49355651e-02 1.76535304e-02] [-1.95798247e-04 1.49376029e-02 9.99888409e-01 -1.94317383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35719347 meters Centerline goodness : 0.883877 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99333456e-01 3.64948897e-02 -8.75880753e-04 1.23836067e+01] [-3.65030063e-02 9.99254984e-01 -1.25302929e-02 1.81043360e-02] [ 4.17936551e-04 1.25539132e-02 9.99921109e-01 -1.94473750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38719347 meters Centerline goodness : 0.883459 Centerline is valid? [False, False] Translation: X:12.38, Y:0.02, Z:-1.94 [[ 9.99300464e-01 3.73730028e-02 -1.35714140e-03 1.23844585e+01] [-3.73870825e-02 9.99222496e-01 -1.25143783e-02 1.92006132e-02] [ 8.88386317e-04 1.25563636e-02 9.99920771e-01 -1.94430740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41719347 meters Centerline goodness : 0.883485 Centerline is valid? [False, False] Translation: X:12.39, Y:0.02, Z:-1.94 [[ 9.99290979e-01 3.76080322e-02 -1.78198850e-03 1.23853696e+01] [-3.76268106e-02 9.99219284e-01 -1.20434773e-02 1.79776567e-02] [ 1.32766579e-03 1.21019888e-02 9.99925887e-01 -1.94446099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44719347 meters Centerline goodness : 0.882758 Centerline is valid? [False, False] Translation: X:12.39, Y:0.02, Z:-1.94 [[ 9.99288383e-01 3.76590712e-02 -2.12641165e-03 1.23862838e+01] [-3.76812305e-02 9.99222762e-01 -1.15757158e-02 1.64912675e-02] [ 1.68882822e-03 1.16476041e-02 9.99930738e-01 -1.94476792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47719347 meters Centerline goodness : 0.884145 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.94 [[ 9.99277380e-01 3.79435845e-02 -2.23644776e-03 1.23861070e+01] [-3.79648524e-02 9.99225052e-01 -1.03906115e-02 1.34180267e-02] [ 1.84045758e-03 1.04680095e-02 9.99943515e-01 -1.94437487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50719347 meters Centerline goodness : 0.883262 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.94 [[ 9.99283206e-01 3.77601433e-02 -2.69188979e-03 1.23871427e+01] [-3.77850727e-02 9.99236795e-01 -9.90532369e-03 1.13623406e-02] [ 2.31580888e-03 9.99993686e-03 9.99947318e-01 -1.94470004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53719347 meters Centerline goodness : 0.883449 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.95 [[ 9.99314641e-01 3.68397372e-02 -3.61684797e-03 1.23894471e+01] [-3.68742537e-02 9.99269960e-01 -9.99182724e-03 8.89925167e-03] [ 3.24611123e-03 1.01183478e-02 9.99943539e-01 -1.94558988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56719347 meters Centerline goodness : 0.888041 Centerline is valid? [False, False] Translation: X:12.39, Y:0.01, Z:-1.95 [[ 9.99317547e-01 3.67490421e-02 -3.73467626e-03 1.23895176e+01] [-3.67814191e-02 9.99282755e-01 -9.00572817e-03 5.21166951e-03] [ 3.40104570e-03 9.13694887e-03 9.99952473e-01 -1.94558625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59719347 meters Centerline goodness : 0.882689 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.00, Z:-1.95 [[ 9.99307466e-01 3.70457798e-02 -3.49250749e-03 1.23883995e+01] [-3.70683380e-02 9.99290725e-01 -6.63212940e-03 -2.67442717e-03] [ 3.24433794e-03 6.75699788e-03 9.99971908e-01 -1.94505161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62719347 meters Centerline goodness : 0.882036 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.00, Z:-1.94 [[ 9.99406783e-01 3.42095163e-02 -3.97383046e-03 1.23885477e+01] [-3.42458694e-02 9.99368553e-01 -9.47180285e-03 -4.50374250e-03] [ 3.64729541e-03 9.60227129e-03 9.99947245e-01 -1.94429916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65719347 meters Centerline goodness : 0.883315 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.01, Z:-1.94 [[ 9.99406185e-01 3.41842722e-02 -4.32581422e-03 1.23890683e+01] [-3.42201053e-02 9.99378174e-01 -8.49998150e-03 -7.93828971e-03] [ 4.03255863e-03 8.64296390e-03 9.99954518e-01 -1.94426484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68719347 meters Centerline goodness : 0.888550 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.01, Z:-1.94 [[ 9.99405454e-01 3.41672700e-02 -4.61918981e-03 1.23893352e+01] [-3.42021853e-02 9.99385242e-01 -7.70374350e-03 -1.06016850e-02] [ 4.35313424e-03 7.85714965e-03 9.99959657e-01 -1.94403076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71719347 meters Centerline goodness : 0.884019 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.02, Z:-1.94 [[ 9.99474886e-01 3.20563205e-02 -4.72701809e-03 1.23881943e+01] [-3.20977748e-02 9.99444470e-01 -8.97132480e-03 -1.50042318e-02] [ 4.43680442e-03 9.11834059e-03 9.99948584e-01 -1.94252633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74719346999998 meters Centerline goodness : 0.886711 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.02, Z:-1.94 [[ 9.99470350e-01 3.21254544e-02 -5.19365655e-03 1.23890713e+01] [-3.21655802e-02 9.99451833e-01 -7.83636027e-03 -1.83736388e-02] [ 4.93906293e-03 7.99926672e-03 9.99955808e-01 -1.94283817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77719347 meters Centerline goodness : 0.883970 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.02, Z:-1.94 [[ 9.99467336e-01 3.20953429e-02 -5.91045098e-03 1.23908974e+01] [-3.21346618e-02 9.99461211e-01 -6.68214942e-03 -2.18018779e-02] [ 5.69280062e-03 6.86852042e-03 9.99960207e-01 -1.94387149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80719347 meters Centerline goodness : 0.882894 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.03, Z:-1.95 [[ 9.99459762e-01 3.22515683e-02 -6.32624178e-03 1.23922252e+01] [-3.22847262e-02 9.99465127e-01 -5.21113809e-03 -2.56825892e-02] [ 6.15479067e-03 5.41256382e-03 9.99966411e-01 -1.94513864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83719347 meters Centerline goodness : 0.885145 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.03, Z:-1.95 [[ 9.99478333e-01 3.14313503e-02 -7.42509555e-03 1.23954914e+01] [-3.14652736e-02 9.99494729e-01 -4.49694941e-03 -3.04033440e-02] [ 7.27999868e-03 4.72823616e-03 9.99962322e-01 -1.94737229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86719347 meters Centerline goodness : 0.888234 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99666824e-01 2.45653207e-02 -7.92374687e-03 1.23967365e+01] [-2.46359416e-02 9.99656500e-01 -8.94160546e-03 -3.82493815e-02] [ 7.70137165e-03 9.13383530e-03 9.99928628e-01 -1.94921980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89719347 meters Centerline goodness : 0.889561 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99757963e-01 2.02502796e-02 -8.59889667e-03 1.23983381e+01] [-2.03553554e-02 9.99716982e-01 -1.23132457e-02 -4.03480130e-02] [ 8.34711636e-03 1.24852990e-02 9.99887215e-01 -1.95027358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92719347 meters Centerline goodness : 0.886550 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99854533e-01 1.46516681e-02 -8.73162759e-03 1.23991910e+01] [-1.47919586e-02 9.99758945e-01 -1.62249898e-02 -4.33604328e-02] [ 8.49179962e-03 1.63517875e-02 9.99830240e-01 -1.95105717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95719347 meters Centerline goodness : 0.885772 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.04, Z:-1.95 [[ 9.99866690e-01 1.32101778e-02 -9.59651394e-03 1.24015838e+01] [-1.33716934e-02 9.99766647e-01 -1.69661183e-02 -4.42072582e-02] [ 9.37014912e-03 1.70921782e-02 9.99810011e-01 -1.95193451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98719347 meters Centerline goodness : 0.889296 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.05, Z:-1.95 [[ 9.99941726e-01 8.60065042e-03 -6.52481877e-03 1.24133858e+01] [-8.68065695e-03 9.99886249e-01 -1.23342896e-02 -4.53770989e-02] [ 6.41799365e-03 1.23902105e-02 9.99902641e-01 -1.95452304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01719347 meters Centerline goodness : 0.888211 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.05, Z:-1.96 [[ 9.99947296e-01 7.23209920e-03 -7.28717270e-03 1.24159726e+01] [-7.33100735e-03 9.99880112e-01 -1.36388726e-02 -4.53003876e-02] [ 7.18766138e-03 1.36915761e-02 9.99880432e-01 -1.95588247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04719347 meters Centerline goodness : 0.887557 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.04, Z:-1.96 [[ 9.99948897e-01 6.10803786e-03 -8.05581937e-03 1.24187878e+01] [-6.22916659e-03 9.99866618e-01 -1.50977936e-02 -4.32690706e-02] [ 7.96252697e-03 1.51472030e-02 9.99853569e-01 -1.95767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07719347 meters Centerline goodness : 0.891950 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.04, Z:-1.96 [[ 9.99948128e-01 5.74043854e-03 -8.41355586e-03 1.24199165e+01] [-5.87342187e-03 9.99856856e-01 -1.58672951e-02 -4.07548882e-02] [ 8.32126628e-03 1.59158884e-02 9.99838708e-01 -1.95819370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10719347 meters Centerline goodness : 0.893154 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.04, Z:-1.96 [[ 9.99990839e-01 3.89884555e-03 -1.76683410e-03 1.24301910e+01] [-3.91556683e-03 9.99946622e-01 -9.56146074e-03 -3.95876197e-02] [ 1.72946114e-03 9.56829130e-03 9.99952727e-01 -1.96173725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13719347 meters Centerline goodness : 0.890821 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.04, Z:-1.96 [[ 9.99994675e-01 3.20703233e-03 6.04873210e-04 1.24498502e+01] [-3.19871258e-03 9.99906601e-01 -1.32874887e-02 -3.65223482e-02] [-6.47430121e-04 1.32854831e-02 9.99911534e-01 -1.96336983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16719347 meters Centerline goodness : 0.894061 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.03, Z:-1.96 [[ 9.99998777e-01 1.55194046e-03 1.91571212e-04 1.24513778e+01] [-1.54880666e-03 9.99880243e-01 -1.53980842e-02 -3.22882676e-02] [-2.15445180e-04 1.53977687e-02 9.99881424e-01 -1.96423003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19719347 meters Centerline goodness : 0.891081 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.03, Z:-1.96 [[ 9.99999444e-01 1.05027547e-03 -9.62981607e-05 1.24524350e+01] [-1.05169808e-03 9.99868138e-01 -1.62049818e-02 -2.97445296e-02] [ 7.92657676e-05 1.62050741e-02 9.99868686e-01 -1.96479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22719347 meters Centerline goodness : 0.889034 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.03, Z:-1.97 [[ 9.99998340e-01 1.66475692e-03 -7.40419462e-04 1.24554748e+01] [-1.67619827e-03 9.99874869e-01 -1.57301126e-02 -2.79433293e-02] [ 7.14139999e-04 1.57313276e-02 9.99876000e-01 -1.96695432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25719347 meters Centerline goodness : 0.887119 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.02, Z:-1.97 [[ 9.99995708e-01 2.38343812e-03 -1.70370577e-03 1.24593004e+01] [-2.40990386e-03 9.99873769e-01 -1.57047389e-02 -2.46232982e-02] [ 1.66605943e-03 1.57087772e-02 9.99875221e-01 -1.96959645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28719347 meters Centerline goodness : 0.888980 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.02, Z:-1.97 [[ 9.99990129e-01 3.78254501e-03 -2.33102346e-03 1.24619627e+01] [-3.81625739e-03 9.99885666e-01 -1.46318466e-02 -2.21495828e-02] [ 2.27541133e-03 1.46405980e-02 9.99890232e-01 -1.97124450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31719347 meters Centerline goodness : 0.888343 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.02, Z:-1.97 [[ 9.99972718e-01 6.86984153e-03 -2.71453892e-03 1.24630112e+01] [-6.90161336e-03 9.99905688e-01 -1.18736380e-02 -1.92046034e-02] [ 2.63271290e-03 1.18920488e-02 9.99925821e-01 -1.97143587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34719347 meters Centerline goodness : 0.886769 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.01, Z:-1.97 [[ 9.99968268e-01 7.96501627e-03 -1.47654392e-04 1.24817823e+01] [-7.96634662e-03 9.99849052e-01 -1.54405425e-02 -1.35792910e-02] [ 2.46479316e-05 1.54412288e-02 9.99880777e-01 -1.97307720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37719347 meters Centerline goodness : 0.885850 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.00, Z:-1.98 [[ 9.99952568e-01 9.65664055e-03 1.26942577e-03 1.25022927e+01] [-9.62976954e-03 9.99759584e-01 -1.96987945e-02 -4.84866314e-03] [-1.45934476e-03 1.96856359e-02 9.99805154e-01 -1.97584216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40719347 meters Centerline goodness : 0.883690 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.00, Z:-1.98 [[ 9.99941052e-01 1.08458878e-02 5.09842734e-04 1.25050526e+01] [-1.08344088e-02 9.99765111e-01 -1.87706905e-02 -3.92441893e-03] [-7.13307781e-04 1.87640602e-02 9.99823685e-01 -1.97738191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43719347 meters Centerline goodness : 0.892253 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.00, Z:-1.98 [[ 9.99940828e-01 1.08780113e-02 9.44509918e-05 1.25059889e+01] [-1.08742312e-02 9.99758956e-01 -1.90730253e-02 -2.60246959e-03] [-3.01904809e-04 1.90708696e-02 9.99818089e-01 -1.97747502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46719347 meters Centerline goodness : 0.891899 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.00, Z:-1.98 [[ 9.99941516e-01 1.08120033e-02 -2.54307659e-04 1.25067832e+01] [-1.08149108e-02 9.99749437e-01 -1.95984776e-02 -5.60859077e-04] [ 4.23451335e-05 1.96000818e-02 9.99807899e-01 -1.97750275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49719346999998 meters Centerline goodness : 0.887486 Centerline is valid? [False, False] Translation: X:12.51, Y:0.00, Z:-1.98 [[ 9.99945644e-01 1.04120851e-02 -5.46364565e-04 1.25075347e+01] [-1.04210813e-02 9.99736596e-01 -2.04484444e-02 2.12147843e-03] [ 3.33309707e-04 2.04530266e-02 9.99790759e-01 -1.97759362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52719347 meters Centerline goodness : 0.888696 Centerline is valid? [False, False] Translation: X:12.51, Y:0.00, Z:-1.98 [[ 9.99927042e-01 1.20168945e-02 -1.22655131e-03 1.25098358e+01] [-1.20375601e-02 9.99755959e-01 -1.85234945e-02 3.77811572e-03] [ 1.00365710e-03 1.85369077e-02 9.99827673e-01 -1.97863528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55719347 meters Centerline goodness : 0.887562 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99920046e-01 1.25015339e-02 -1.90062476e-03 1.25116473e+01] [-1.25342593e-02 9.99753778e-01 -1.83105257e-02 8.56977526e-03] [ 1.67124713e-03 1.83328846e-02 9.99830542e-01 -1.97899983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58719347 meters Centerline goodness : 0.882473 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99927159e-01 1.18340395e-02 -2.37326262e-03 1.25128121e+01] [-1.18773809e-02 9.99745773e-01 -1.91655268e-02 1.03807594e-02] [ 2.14585367e-03 1.91923190e-02 9.99813508e-01 -1.97924163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61719347 meters Centerline goodness : 0.889998 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99935900e-01 1.09547693e-02 -2.86162519e-03 1.25139862e+01] [-1.10099118e-02 9.99738906e-01 -2.00225043e-02 1.16524621e-02] [ 2.64153612e-03 2.00527271e-02 9.99795434e-01 -1.97951131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64719347 meters Centerline goodness : 0.884099 Centerline is valid? [False, False] Translation: X:12.51, Y:0.01, Z:-1.98 [[ 9.99968630e-01 3.48534006e-03 -7.11278157e-03 1.25141862e+01] [-3.56691699e-03 9.99927640e-01 -1.14887873e-02 1.37014844e-02] [ 7.07222456e-03 1.15137976e-02 9.99908704e-01 -1.97886310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67719347 meters Centerline goodness : 0.884718 Centerline is valid? [False, False] Translation: X:12.52, Y:0.02, Z:-1.98 [[ 9.99967636e-01 1.49931248e-03 -7.90432566e-03 1.25171105e+01] [-1.60433011e-03 9.99910310e-01 -1.32965399e-02 1.59751430e-02] [ 7.88368105e-03 1.33087908e-02 9.99880355e-01 -1.98064235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70719347 meters Centerline goodness : 0.885953 Centerline is valid? [False, False] Translation: X:12.52, Y:0.02, Z:-1.98 [[ 9.99961505e-01 -9.13531019e-04 -8.72662735e-03 1.25199710e+01] [ 7.77484512e-04 9.99878314e-01 -1.55805063e-02 1.89784701e-02] [ 8.73979872e-03 1.55731217e-02 9.99840534e-01 -1.98222271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73719347 meters Centerline goodness : 0.888030 Centerline is valid? [False, False] Translation: X:12.52, Y:0.02, Z:-1.98 [[ 9.99951678e-01 -2.84493194e-03 -9.40995552e-03 1.25220231e+01] [ 2.68090536e-03 9.99845048e-01 -1.73980949e-02 2.17497475e-02] [ 9.45799382e-03 1.73720269e-02 9.99804360e-01 -1.98301066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76719347 meters Centerline goodness : 0.886225 Centerline is valid? [False, False] Translation: X:12.53, Y:0.03, Z:-1.98 [[ 9.99954323e-01 -9.23672907e-03 -2.45663167e-03 1.25298550e+01] [ 9.20013173e-03 9.99852350e-01 -1.45132752e-02 2.65043329e-02] [ 2.59032414e-03 1.44900109e-02 9.99891659e-01 -1.98440726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79719347 meters Centerline goodness : 0.886225 Centerline is valid? [False, False] Translation: X:12.53, Y:0.03, Z:-1.98 [[ 9.99954323e-01 -9.23672907e-03 -2.45663167e-03 1.25298550e+01] [ 9.20013173e-03 9.99852350e-01 -1.45132752e-02 2.65043329e-02] [ 2.59032414e-03 1.44900109e-02 9.99891659e-01 -1.98440726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82719347 meters Centerline goodness : 0.888289 Centerline is valid? [False, False] Translation: X:12.53, Y:0.03, Z:-1.98 [[ 9.99946462e-01 -1.00379326e-02 -2.51238583e-03 1.25293353e+01] [ 9.99700592e-03 9.99825127e-01 -1.58042921e-02 2.99774189e-02] [ 2.67058890e-03 1.57783297e-02 9.99871948e-01 -1.98327075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85719347 meters Centerline goodness : 0.887870 Centerline is valid? [False, False] Translation: X:12.55, Y:0.03, Z:-1.98 [[ 9.99944321e-01 -1.04397612e-02 1.53844806e-03 1.25462195e+01] [ 1.04656982e-02 9.99784203e-01 -1.79448038e-02 3.37246243e-02] [-1.35077661e-03 1.79599055e-02 9.99837795e-01 -1.98287669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88719347 meters Centerline goodness : 0.892704 Centerline is valid? [False, False] Translation: X:12.55, Y:0.04, Z:-1.98 [[ 9.99984594e-01 -5.25892891e-03 1.77618666e-03 1.25454853e+01] [ 5.28380653e-03 9.99883723e-01 -1.43046448e-02 4.22283482e-02] [-1.70075302e-03 1.43138094e-02 9.99896106e-01 -1.98185301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91719347 meters Centerline goodness : 0.889080 Centerline is valid? [False, False] Translation: X:12.55, Y:0.05, Z:-1.98 [[ 9.99996753e-01 -2.18320957e-03 1.31416578e-03 1.25468877e+01] [ 2.19920266e-03 9.99922009e-01 -1.22938999e-02 4.70869640e-02] [-1.28722313e-03 1.22967502e-02 9.99923564e-01 -1.98224195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94719347 meters Centerline goodness : 0.888369 Centerline is valid? [False, False] Translation: X:12.55, Y:0.05, Z:-1.98 [[ 9.99998852e-01 1.05050906e-03 1.09210124e-03 1.25479512e+01] [-1.03971363e-03 9.99951055e-01 -9.83902248e-03 5.18525896e-02] [-1.10238376e-03 9.83787571e-03 9.99950999e-01 -1.98300896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97719347 meters Centerline goodness : 0.892109 Centerline is valid? [False, False] Translation: X:12.55, Y:0.06, Z:-1.98 [[ 9.99990539e-01 4.24351613e-03 9.56757380e-04 1.25487130e+01] [-4.23629358e-03 9.99963433e-01 -7.42870070e-03 5.65122818e-02] [-9.88246206e-04 7.42457731e-03 9.99971949e-01 -1.98355696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00719347 meters Centerline goodness : 0.890994 Centerline is valid? [False, False] Translation: X:12.55, Y:0.07, Z:-1.98 [[ 9.99957773e-01 9.14004958e-03 9.54887680e-04 1.25491416e+01] [-9.13587699e-03 9.99949080e-01 -4.28632696e-03 6.79339491e-02] [-9.94016298e-04 4.27742222e-03 9.99990358e-01 -1.98375067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03719347 meters Centerline goodness : 0.893743 Centerline is valid? [False, False] Translation: X:12.55, Y:0.07, Z:-1.98 [[ 9.99927908e-01 1.19797047e-02 8.15918479e-04 1.25495507e+01] [-1.19776524e-02 9.99925201e-01 -2.47541438e-03 7.40046715e-02] [-8.45512183e-04 2.46546314e-03 9.99996603e-01 -1.98369239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06719347 meters Centerline goodness : 0.892141 Centerline is valid? [False, False] Translation: X:12.55, Y:0.08, Z:-1.98 [[ 9.99888851e-01 1.48975278e-02 5.90303091e-04 1.25502151e+01] [-1.48970267e-02 9.99888677e-01 -8.44436382e-04 8.06235188e-02] [-6.02817391e-04 8.35548763e-04 9.99999469e-01 -1.98369021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09719347 meters Centerline goodness : 0.890448 Centerline is valid? [False, False] Translation: X:12.55, Y:0.09, Z:-1.98 [[ 9.99838589e-01 1.79662914e-02 9.44798791e-05 1.25517395e+01] [-1.79663688e-02 9.99838192e-01 8.94061134e-04 8.68367404e-02] [-7.84016286e-05 -8.95614283e-04 9.99999596e-01 -1.98412401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12719347 meters Centerline goodness : 0.893558 Centerline is valid? [False, False] Translation: X:12.55, Y:0.10, Z:-1.98 [[ 9.99665906e-01 2.58446654e-02 -3.60565751e-04 1.25533143e+01] [-2.58424973e-02 9.99653065e-01 5.09058401e-03 9.73831934e-02] [ 4.92005098e-04 -5.07956536e-03 9.99986978e-01 -1.98412506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15719347 meters Centerline goodness : 0.891066 Centerline is valid? [False, False] Translation: X:12.55, Y:0.10, Z:-1.98 [[ 9.99549868e-01 2.99976433e-02 -4.51352484e-04 1.25538777e+01] [-2.99931055e-02 9.99518417e-01 7.95908469e-03 1.01930101e-01] [ 6.89888904e-04 -7.94196458e-03 9.99968224e-01 -1.98418844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18719347 meters Centerline goodness : 0.894028 Centerline is valid? [False, False] Translation: X:12.55, Y:0.11, Z:-1.98 [[ 9.99432234e-01 3.36892641e-02 -4.92648089e-04 1.25544284e+01] [-3.36824031e-02 9.99379429e-01 1.03078590e-02 1.07054471e-01] [ 8.39606551e-04 -1.02854130e-02 9.99946751e-01 -1.98425056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21719347 meters Centerline goodness : 0.894934 Centerline is valid? [False, False] Translation: X:12.56, Y:0.12, Z:-1.98 [[ 9.99027724e-01 4.40823233e-02 -5.96294816e-04 1.25560822e+01] [-4.40629398e-02 9.98846536e-01 1.90802474e-02 1.15557125e-01] [ 1.43670865e-03 -1.90354216e-02 9.99817778e-01 -1.98495949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24719346999998 meters Centerline goodness : 0.894876 Centerline is valid? [False, False] Translation: X:12.57, Y:0.12, Z:-1.99 [[ 9.98841690e-01 4.79022867e-02 4.54419312e-03 1.25677953e+01] [-4.79576288e-02 9.98765141e-01 1.29714549e-02 1.21025563e-01] [-3.91721933e-03 -1.31743587e-02 9.99905541e-01 -1.98864914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27719347 meters Centerline goodness : 0.894676 Centerline is valid? [False, False] Translation: X:12.57, Y:0.12, Z:-1.99 [[ 9.98831262e-01 4.81504547e-02 4.20051183e-03 1.25686015e+01] [-4.81979226e-02 9.98765179e-01 1.20447850e-02 1.24532206e-01] [-3.61536308e-03 -1.22331637e-02 9.99918636e-01 -1.98870298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30719347 meters Centerline goodness : 0.897988 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98818349e-01 4.84547915e-02 3.74690431e-03 1.25699198e+01] [-4.84952597e-02 9.98756143e-01 1.15921245e-02 1.26290428e-01] [-3.18054972e-03 -1.17601338e-02 9.99925789e-01 -1.98920581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33719347 meters Centerline goodness : 0.897733 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98772159e-01 4.94308575e-02 3.28083307e-03 1.25715440e+01] [-4.94657376e-02 9.98708763e-01 1.15736005e-02 1.27356591e-01] [-2.70450374e-03 -1.17216788e-02 9.99927641e-01 -1.99036029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36719347 meters Centerline goodness : 0.894588 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98767141e-01 4.95528556e-02 2.95170045e-03 1.25725213e+01] [-4.95840303e-02 9.98702124e-01 1.16401020e-02 1.27208348e-01] [-2.37106921e-03 -1.17721086e-02 9.99927895e-01 -1.99085262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39719347 meters Centerline goodness : 0.895164 Centerline is valid? [False, False] Translation: X:12.57, Y:0.13, Z:-1.99 [[ 9.98767035e-01 4.95682166e-02 2.72071569e-03 1.25730634e+01] [-4.95970550e-02 9.98699374e-01 1.18191994e-02 1.26520239e-01] [-2.13132042e-03 -1.19395662e-02 9.99926449e-01 -1.99096451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42719347 meters Centerline goodness : 0.894090 Centerline is valid? [False, False] Translation: X:12.57, Y:0.12, Z:-1.99 [[ 9.98762943e-01 4.96631465e-02 2.48091586e-03 1.25735474e+01] [-4.96901391e-02 9.98688153e-01 1.23638025e-02 1.24654605e-01] [-1.86363594e-03 -1.24717848e-02 9.99920488e-01 -1.99093863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45719347 meters Centerline goodness : 0.891402 Centerline is valid? [False, False] Translation: X:12.59, Y:0.12, Z:-1.99 [[ 9.98809541e-01 4.85169425e-02 5.06035596e-03 1.25922792e+01] [-4.85955219e-02 9.98677676e-01 1.67742156e-02 1.15614694e-01] [-4.23983088e-03 -1.70001573e-02 9.99846497e-01 -1.99307953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48719347 meters Centerline goodness : 0.899470 Centerline is valid? [False, False] Translation: X:12.59, Y:0.11, Z:-1.99 [[ 9.98914579e-01 4.63786427e-02 4.32273692e-03 1.25944407e+01] [-4.64382098e-02 9.98810270e-01 1.48841075e-02 1.12894332e-01] [-3.62728933e-03 -1.50686921e-02 9.99879881e-01 -1.99421055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51719347 meters Centerline goodness : 0.894792 Centerline is valid? [False, False] Translation: X:12.60, Y:0.10, Z:-1.99 [[ 9.99096285e-01 4.19791223e-02 6.66081489e-03 1.26028699e+01] [-4.21266765e-02 9.98828244e-01 2.38218688e-02 1.03943243e-01] [-5.65298890e-03 -2.40809386e-02 9.99694029e-01 -1.99397980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54719347 meters Centerline goodness : 0.894911 Centerline is valid? [False, False] Translation: X:12.60, Y:0.10, Z:-1.99 [[ 9.99224145e-01 3.88765689e-02 6.30243852e-03 1.26034070e+01] [-3.90003302e-02 9.99021146e-01 2.08740070e-02 1.01634037e-01] [-5.48475958e-03 -2.11036090e-02 9.99762249e-01 -1.99392181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57719347 meters Centerline goodness : 0.889413 Centerline is valid? [False, False] Translation: X:12.60, Y:0.10, Z:-1.99 [[ 9.99348468e-01 3.56086902e-02 5.88734325e-03 1.26039287e+01] [-3.57094795e-02 9.99199977e-01 1.80066185e-02 9.89745238e-02] [-5.24144114e-03 -1.82051206e-02 9.99820534e-01 -1.99371655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60719347 meters Centerline goodness : 0.896738 Centerline is valid? [False, False] Translation: X:12.61, Y:0.09, Z:-1.99 [[ 9.99553291e-01 2.93302712e-02 5.74055023e-03 1.26050837e+01] [-2.94912226e-02 9.99105257e-01 3.03142370e-02 9.43968080e-02] [-4.84628912e-03 -3.04699912e-02 9.99523933e-01 -1.99336857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63719347 meters Centerline goodness : 0.892138 Centerline is valid? [False, False] Translation: X:12.61, Y:0.09, Z:-1.99 [[ 9.99569026e-01 2.88111831e-02 5.62832437e-03 1.26050709e+01] [-2.89717605e-02 9.99102290e-01 3.09071363e-02 9.17373333e-02] [-4.73280060e-03 -3.10568786e-02 9.99506414e-01 -1.99275912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66719347 meters Centerline goodness : 0.888861 Centerline is valid? [False, False] Translation: X:12.60, Y:0.09, Z:-1.99 [[ 9.99726383e-01 2.32233334e-02 2.79923953e-03 1.26049336e+01] [-2.33264881e-02 9.98697600e-01 4.53759656e-02 8.51127725e-02] [-1.74181262e-03 -4.54288464e-02 9.98966058e-01 -1.99017825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69719347 meters Centerline goodness : 0.888800 Centerline is valid? [False, False] Translation: X:12.60, Y:0.08, Z:-1.99 [[ 9.99792707e-01 2.01615403e-02 2.83809780e-03 1.26045612e+01] [-2.02626080e-02 9.98920531e-01 4.17995101e-02 8.46386294e-02] [-1.99229165e-03 -4.18483526e-02 9.99121988e-01 -1.98977501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72719347 meters Centerline goodness : 0.887268 Centerline is valid? [False, False] Translation: X:12.59, Y:0.09, Z:-1.99 [[ 9.99795189e-01 2.00954577e-02 -2.39829490e-03 1.25945465e+01] [-2.00126991e-02 9.99331011e-01 3.06108244e-02 8.55859859e-02] [ 3.01182899e-03 -3.05565586e-02 9.99528502e-01 -1.98621988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75719347 meters Centerline goodness : 0.888283 Centerline is valid? [False, False] Translation: X:12.59, Y:0.08, Z:-1.99 [[ 9.99785491e-01 2.05960508e-02 -2.18501363e-03 1.25942296e+01] [-2.05161425e-02 9.99282859e-01 3.18253813e-02 8.20297538e-02] [ 2.83892384e-03 -3.17737264e-02 9.99491056e-01 -1.98626649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78719347 meters Centerline goodness : 0.886948 Centerline is valid? [False, False] Translation: X:12.57, Y:0.08, Z:-1.98 [[ 9.99851122e-01 1.67240541e-02 -4.24740994e-03 1.25744663e+01] [-1.65223209e-02 9.98905256e-01 4.37641777e-02 8.05960843e-02] [ 4.97467459e-03 -4.36874851e-02 9.99032860e-01 -1.98493937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81719347 meters Centerline goodness : 0.888320 Centerline is valid? [False, False] Translation: X:12.57, Y:0.08, Z:-1.99 [[ 9.99847668e-01 1.68813027e-02 -4.43423997e-03 1.25749965e+01] [-1.66704065e-02 9.98895564e-01 4.39289123e-02 7.99947048e-02] [ 5.17091990e-03 -4.38482999e-02 9.99024819e-01 -1.98512893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84719347 meters Centerline goodness : 0.891515 Centerline is valid? [False, False] Translation: X:12.58, Y:0.08, Z:-1.99 [[ 9.99812789e-01 1.86427621e-02 -5.18028020e-03 1.25767093e+01] [-1.83903176e-02 9.98812204e-01 4.51217971e-02 7.79476941e-02] [ 6.01532202e-03 -4.50180828e-02 9.98968062e-01 -1.98557838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87719347 meters Centerline goodness : 0.891205 Centerline is valid? [False, False] Translation: X:12.58, Y:0.08, Z:-1.99 [[ 9.99768159e-01 2.06418108e-02 -6.12732603e-03 1.25798972e+01] [-2.03325418e-02 9.98695115e-01 4.68471351e-02 7.66202796e-02] [ 7.08634027e-03 -4.67116899e-02 9.98883277e-01 -1.98727337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90719347 meters Centerline goodness : 0.892564 Centerline is valid? [False, False] Translation: X:12.59, Y:0.08, Z:-1.99 [[ 9.99641976e-01 2.48209447e-02 -9.99205288e-03 1.25875119e+01] [-2.43169327e-02 9.98563550e-01 4.77443484e-02 7.50061103e-02] [ 1.11627596e-02 -4.74842787e-02 9.98809610e-01 -1.98661481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93719347 meters Centerline goodness : 0.887060 Centerline is valid? [False, False] Translation: X:12.59, Y:0.07, Z:-1.99 [[ 0.99949248 0.02877084 -0.01367588 12.59442766] [-0.02807625 0.99842737 0.04852322 0.07298824] [ 0.01505043 -0.04811462 0.99872843 -1.98549784] [ 0. 0. 0. 1. ]] SLAMing on 144.96719347 meters Centerline goodness : 0.887965 Centerline is valid? [False, False] Translation: X:12.60, Y:0.07, Z:-1.99 [[ 9.99388539e-01 3.35080569e-02 -9.98789607e-03 1.26034263e+01] [-3.30631054e-02 9.98578594e-01 4.18045670e-02 6.89842815e-02] [ 1.13744890e-02 -4.14487743e-02 9.99075883e-01 -1.98646612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99719346999998 meters Centerline goodness : 0.891096 Centerline is valid? [False, False] Translation: X:12.61, Y:0.07, Z:-1.99 [[ 9.99360693e-01 3.51743947e-02 -6.40059458e-03 1.26131586e+01] [-3.49475814e-02 9.98855992e-01 3.26400501e-02 6.75735795e-02] [ 7.54136626e-03 -3.23954977e-02 9.99446677e-01 -1.98814127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02719347 meters Centerline goodness : 0.887393 Centerline is valid? [False, False] Translation: X:12.61, Y:0.07, Z:-1.99 [[ 9.99441716e-01 3.27062884e-02 -6.82319123e-03 1.26140675e+01] [-3.24881535e-02 9.99023385e-01 2.99465618e-02 6.62046609e-02] [ 7.79596849e-03 -2.97081702e-02 9.99528212e-01 -1.98844489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05719347 meters Centerline goodness : 0.886673 Centerline is valid? [False, False] Translation: X:12.63, Y:0.06, Z:-1.99 [[ 9.99468137e-01 3.24045997e-02 -3.65861651e-03 1.26318099e+01] [-3.22669606e-02 9.98937602e-01 3.29015310e-02 5.60776155e-02] [ 4.72089054e-03 -3.27659794e-02 9.99451902e-01 -1.98896182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08719347 meters Centerline goodness : 0.885888 Centerline is valid? [False, False] Translation: X:12.63, Y:0.05, Z:-1.99 [[ 9.99552927e-01 2.96832705e-02 -3.58453088e-03 1.26310958e+01] [-2.95584315e-02 9.99084356e-01 3.09313605e-02 5.13491737e-02] [ 4.49939267e-03 -3.08115788e-02 9.99515083e-01 -1.98807688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11719347 meters Centerline goodness : 0.887362 Centerline is valid? [False, False] Translation: X:12.63, Y:0.05, Z:-1.99 [[ 9.99630390e-01 2.69644758e-02 -3.46430481e-03 1.26305767e+01] [-2.68536228e-02 9.99223786e-01 2.88220011e-02 4.66996038e-02] [ 4.23878592e-03 -2.87183191e-02 9.99578557e-01 -1.98774833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14719347 meters Centerline goodness : 0.889162 Centerline is valid? [False, False] Translation: X:12.63, Y:0.04, Z:-1.99 [[ 9.99699236e-01 2.42606179e-02 -3.58601136e-03 1.26310130e+01] [-2.41574558e-02 9.99358155e-01 2.64517375e-02 4.27858622e-02] [ 4.22544520e-03 -2.63571529e-02 9.99643660e-01 -1.98809813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17719347 meters Centerline goodness : 0.887002 Centerline is valid? [False, False] Translation: X:12.63, Y:0.04, Z:-1.99 [[ 9.99762710e-01 2.14425798e-02 -3.83916775e-03 1.26316405e+01] [-2.13451592e-02 9.99488004e-01 2.38351251e-02 3.96255842e-02] [ 4.34828868e-03 -2.37475216e-02 9.99708531e-01 -1.98845788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20719347 meters Centerline goodness : 0.883086 Centerline is valid? [False, False] Translation: X:12.63, Y:0.03, Z:-1.99 [[ 9.99847372e-01 1.70354669e-02 -3.87626883e-03 1.26314984e+01] [-1.69527563e-02 9.99647055e-01 2.04540719e-02 2.98640243e-02] [ 4.22334539e-03 -2.03852366e-02 9.99783279e-01 -1.98820760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23719347 meters Centerline goodness : 0.887445 Centerline is valid? [False, False] Translation: X:12.63, Y:0.03, Z:-1.99 [[ 9.99927074e-01 1.14679178e-02 -3.78606114e-03 1.26303299e+01] [-1.14095262e-02 9.99820890e-01 1.51000202e-02 2.53429071e-02] [ 3.95854881e-03 -1.50557218e-02 9.99878820e-01 -1.98704778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26719347 meters Centerline goodness : 0.891927 Centerline is valid? [False, False] Translation: X:12.63, Y:0.02, Z:-1.99 [[ 9.99975118e-01 6.17174412e-03 -3.41660409e-03 1.26281665e+01] [-6.13592015e-03 9.99927111e-01 1.03982751e-02 2.02047812e-02] [ 3.48053055e-03 -1.03770523e-02 9.99940100e-01 -1.98521222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29719347 meters Centerline goodness : 0.891971 Centerline is valid? [False, False] Translation: X:12.63, Y:0.01, Z:-1.99 [[ 9.99995464e-01 -4.92980008e-05 -3.01151459e-03 1.26278623e+01] [ 6.99586017e-05 9.99976462e-01 6.86081484e-03 5.84942559e-03] [ 3.01110548e-03 -6.86099440e-03 9.99971930e-01 -1.98555383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32719347 meters Centerline goodness : 0.884419 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.00, Z:-1.99 [[ 9.99979375e-01 -5.32715528e-03 -3.58775562e-03 1.26301963e+01] [ 5.33564530e-03 9.99982978e-01 2.36098658e-03 -3.76651576e-04] [ 3.57511721e-03 -2.38008087e-03 9.99990777e-01 -1.98699290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35719347 meters Centerline goodness : 0.897941 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.01, Z:-1.99 [[ 9.99956398e-01 -8.47990772e-03 -3.91069769e-03 1.26313822e+01] [ 8.48217983e-03 9.99963866e-01 5.64780128e-04 -8.16658885e-03] [ 3.90576710e-03 -5.97926743e-04 9.99992194e-01 -1.98742144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38719347 meters Centerline goodness : 0.891161 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.02, Z:-1.99 [[ 9.99925424e-01 -1.15028877e-02 -4.10247686e-03 1.26321620e+01] [ 1.14982201e-02 9.99933221e-01 -1.15955015e-03 -1.60104452e-02] [ 4.11554108e-03 1.11229249e-03 9.99990913e-01 -1.98757963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41719347 meters Centerline goodness : 0.891724 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.03, Z:-1.99 [[ 9.99876648e-01 -1.52688535e-02 -3.68122009e-03 1.26308475e+01] [ 1.52626418e-02 9.99882057e-01 -1.70964619e-03 -3.29174877e-02] [ 3.70689026e-03 1.65325016e-03 9.99991763e-01 -1.98573617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44719347 meters Centerline goodness : 0.892300 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.04, Z:-1.99 [[ 9.99840449e-01 -1.73879998e-02 -4.09077894e-03 1.26323524e+01] [ 1.73771779e-02 9.99845450e-01 -2.66626402e-03 -3.92220587e-02] [ 4.13650771e-03 2.59475242e-03 9.99988078e-01 -1.98631551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47719347 meters Centerline goodness : 0.895398 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.05, Z:-1.99 [[ 9.99816268e-01 -1.85619703e-02 -4.78366034e-03 1.26349840e+01] [ 1.85493085e-02 9.99824361e-01 -2.67778492e-03 -4.54340746e-02] [ 4.83252511e-03 2.58855933e-03 9.99984973e-01 -1.98776946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50719347 meters Centerline goodness : 0.898584 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.06, Z:-1.99 [[ 9.99783690e-01 -1.99356911e-02 -5.92798203e-03 1.26387876e+01] [ 1.99245834e-02 9.99799629e-01 -1.92696542e-03 -5.81943594e-02] [ 5.96520962e-03 1.80843603e-03 9.99980573e-01 -1.98951612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53719347 meters Centerline goodness : 0.898300 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.06, Z:-1.99 [[ 9.99735193e-01 -2.20237144e-02 -6.67079814e-03 1.26415913e+01] [ 2.20038856e-02 9.99753289e-01 -3.03143587e-03 -6.47347613e-02] [ 6.73591586e-03 2.88384965e-03 9.99973155e-01 -1.99100484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56719347 meters Centerline goodness : 0.901285 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.07, Z:-1.99 [[ 9.99666553e-01 -2.47451482e-02 -7.37972332e-03 1.26445876e+01] [ 2.47108998e-02 9.99683607e-01 -4.69650979e-03 -7.09244624e-02] [ 7.49360426e-03 4.51258415e-03 9.99961741e-01 -1.99267774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59719347 meters Centerline goodness : 0.900707 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.08, Z:-1.99 [[ 9.99595018e-01 -2.73636234e-02 -7.81225262e-03 1.26466745e+01] [ 2.73162689e-02 9.99608197e-01 -6.10527389e-03 -7.73027078e-02] [ 7.97625417e-03 5.88939978e-03 9.99950846e-01 -1.99386761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62719347 meters Centerline goodness : 0.896877 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.09, Z:-2.00 [[ 9.99407226e-01 -3.34225850e-02 -8.25387608e-03 1.26495657e+01] [ 3.33389350e-02 9.99393347e-01 -1.00724203e-02 -8.74018229e-02] [ 8.58551516e-03 9.79127421e-03 9.99915206e-01 -1.99574902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65719347 meters Centerline goodness : 0.897401 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.09, Z:-2.00 [[ 9.99413091e-01 -3.36686049e-02 -6.31652526e-03 1.26689689e+01] [ 3.36056006e-02 9.99386842e-01 -9.82874484e-03 -9.31486841e-02] [ 6.64357236e-03 9.61070564e-03 9.99931746e-01 -1.99615201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68719347 meters Centerline goodness : 0.897891 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.10, Z:-2.00 [[ 9.99426080e-01 -3.32289380e-02 -6.58391561e-03 1.26694864e+01] [ 3.31751009e-02 9.99416535e-01 -8.12419721e-03 -9.84508068e-02] [ 6.85003257e-03 7.90111251e-03 9.99945323e-01 -1.99582390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71719347 meters Centerline goodness : 0.900660 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.10, Z:-2.00 [[ 9.99474430e-01 -3.22891039e-02 -2.87702296e-03 1.26869212e+01] [ 3.22606184e-02 9.99434805e-01 -9.45110268e-03 -1.02243418e-01] [ 3.18056452e-03 9.35332093e-03 9.99951199e-01 -1.99587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74719346999998 meters Centerline goodness : 0.900660 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.10, Z:-2.00 [[ 9.99474430e-01 -3.22891039e-02 -2.87702296e-03 1.26869212e+01] [ 3.22606184e-02 9.99434805e-01 -9.45110268e-03 -1.02243418e-01] [ 3.18056452e-03 9.35332093e-03 9.99951199e-01 -1.99587118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77719347 meters Centerline goodness : 0.905315 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.10, Z:-2.00 [[ 9.99485868e-01 -3.18961946e-02 -3.26061664e-03 1.26873406e+01] [ 3.18663965e-02 9.99453264e-01 -8.81513456e-03 -1.03723772e-01] [ 3.54000319e-03 8.70669832e-03 9.99955830e-01 -1.99530545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80719347 meters Centerline goodness : 0.903050 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.11, Z:-1.99 [[ 9.99500531e-01 -3.13948930e-02 -3.61231669e-03 1.26878493e+01] [ 3.13645939e-02 9.99474708e-01 -8.15910577e-03 -1.05403926e-01] [ 3.86657342e-03 8.04173171e-03 9.99960189e-01 -1.99499094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83719347 meters Centerline goodness : 0.902150 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.11, Z:-2.00 [[ 9.99702282e-01 -2.40338791e-02 -4.20951015e-03 1.27086298e+01] [ 2.39570834e-02 9.99561007e-01 -1.74313465e-02 -1.06887409e-01] [ 4.62660508e-03 1.73253093e-02 9.99839201e-01 -1.99595360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86719347 meters Centerline goodness : 0.902912 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.11, Z:-2.00 [[ 9.99808294e-01 -1.95796958e-02 -9.93198373e-05 1.27228702e+01] [ 1.95726938e-02 9.99563094e-01 -2.21479250e-02 -1.07011057e-01] [ 5.32926079e-04 2.21417352e-02 9.99754700e-01 -2.00106620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89719347 meters Centerline goodness : 0.905039 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.11, Z:-2.01 [[ 9.99888419e-01 -1.48233696e-02 -1.84880384e-03 1.27465408e+01] [ 1.47790816e-02 9.99648157e-01 -2.20258947e-02 -1.07539385e-01] [ 2.17465133e-03 2.19961134e-02 9.99755691e-01 -2.00513223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92719347 meters Centerline goodness : 0.901998 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.11, Z:-2.00 [[ 9.99944283e-01 -9.81876005e-03 -3.87583520e-03 1.27743185e+01] [ 9.69999006e-03 9.99516027e-01 -2.95570941e-02 -1.07941037e-01] [ 4.16417342e-03 2.95178517e-02 9.99555579e-01 -2.00477795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95719347 meters Centerline goodness : 0.901591 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.11, Z:-2.00 [[ 9.99979425e-01 -6.39584277e-03 -4.92814309e-04 1.27917525e+01] [ 6.37954842e-03 9.99588026e-01 -2.79835427e-02 -1.11325648e-01] [ 6.71589622e-04 2.79798230e-02 9.99608263e-01 -2.00424252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98719347 meters Centerline goodness : 0.900943 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.12, Z:-2.00 [[ 9.99990315e-01 -3.03093330e-03 3.19114402e-03 1.28075139e+01] [ 3.11114064e-03 9.99671590e-01 -2.54368331e-02 -1.20220000e-01] [-3.11299867e-03 2.54465148e-02 9.99671338e-01 -2.00202394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01719347 meters Centerline goodness : 0.905006 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.12, Z:-2.00 [[ 9.99992643e-01 -2.68530284e-03 2.73920114e-03 1.28086190e+01] [ 2.75090720e-03 9.99702518e-01 -2.42344201e-02 -1.24178616e-01] [-2.67330952e-03 2.42417771e-02 9.99702551e-01 -2.00220326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04719347 meters Centerline goodness : 0.905153 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.13, Z:-2.00 [[ 9.99994619e-01 -2.24943935e-03 2.38772162e-03 1.28097106e+01] [ 2.30379775e-03 9.99732521e-01 -2.30126018e-02 -1.27650530e-01] [-2.33531751e-03 2.30179788e-02 9.99732324e-01 -2.00270990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07719347 meters Centerline goodness : 0.906151 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.13, Z:-2.00 [[ 9.99999350e-01 -5.23051243e-05 1.13862737e-03 1.28315667e+01] [ 7.90413051e-05 9.99723982e-01 -2.34936971e-02 -1.30891986e-01] [-1.13708425e-03 2.34937719e-02 9.99723337e-01 -2.00471337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10719347 meters Centerline goodness : 0.899428 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.13, Z:-2.01 [[ 9.99999804e-01 2.16869588e-05 6.25589743e-04 1.28338546e+01] [-7.44383679e-06 9.99740991e-01 -2.27585354e-02 -1.33958237e-01] [-6.25921273e-04 2.27585263e-02 9.99740795e-01 -2.00641633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13719347 meters Centerline goodness : 0.898538 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.14, Z:-2.01 [[ 9.99997710e-01 -2.12160371e-03 -2.80254897e-04 1.28376202e+01] [ 2.11448851e-03 9.99725618e-01 -2.33284751e-02 -1.43285793e-01] [ 3.29671780e-04 2.33278291e-02 9.99727815e-01 -2.00920455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16719347 meters Centerline goodness : 0.899380 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.15, Z:-2.01 [[ 9.99985610e-01 -5.33676385e-03 -5.46552185e-04 1.28383783e+01] [ 5.32102636e-03 9.99658191e-01 -2.55966492e-02 -1.48424477e-01] [ 6.82968641e-04 2.55933727e-02 9.99672203e-01 -2.00940764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19719347 meters Centerline goodness : 0.898862 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.15, Z:-2.01 [[ 9.99962082e-01 -8.68857408e-03 -5.85530192e-04 1.28383841e+01] [ 8.66895397e-03 9.99576372e-01 -2.77835346e-02 -1.54181117e-01] [ 8.26681444e-04 2.77774052e-02 9.99613792e-01 -2.00906951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22719347 meters Centerline goodness : 0.903058 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.17, Z:-2.01 [[ 9.99903364e-01 -1.39006612e-02 -1.84364045e-04 1.28384272e+01] [ 1.38903553e-02 9.99526288e-01 -2.74637693e-02 -1.66025217e-01] [ 5.66041262e-04 2.74585544e-02 9.99622783e-01 -2.00641943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25719347 meters Centerline goodness : 0.903317 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.17, Z:-2.01 [[ 9.99838787e-01 -1.79479528e-02 -5.21468641e-04 1.28396948e+01] [ 1.79235897e-02 9.99370813e-01 -3.06059414e-02 -1.68823939e-01] [ 1.07045453e-03 3.05916608e-02 9.99531392e-01 -2.00687639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28719347 meters Centerline goodness : 0.903875 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.17, Z:-2.01 [[ 9.99758369e-01 -2.19668193e-02 -8.13517196e-04 1.28408233e+01] [ 2.19267381e-02 9.99187042e-01 -3.38300634e-02 -1.71323756e-01] [ 1.55599473e-03 3.38040513e-02 9.99427268e-01 -2.00723702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31719347 meters Centerline goodness : 0.904611 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.18, Z:-2.00 [[ 9.99573765e-01 -2.91445679e-02 -1.69778921e-03 1.28367800e+01] [ 2.90990271e-02 9.99323073e-01 -2.25087352e-02 -1.82631983e-01] [ 2.35264729e-03 2.24497372e-02 9.99745205e-01 -2.00472819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34719347 meters Centerline goodness : 0.903273 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.19, Z:-2.00 [[ 9.99584608e-01 -2.87437090e-02 -2.10022852e-03 1.28375498e+01] [ 2.86927551e-02 9.99363043e-01 -2.12187118e-02 -1.87096552e-01] [ 2.70879524e-03 2.11496363e-02 9.99772652e-01 -2.00450154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37719347 meters Centerline goodness : 0.900412 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.19, Z:-2.00 [[ 9.99600624e-01 -2.81606073e-02 -2.36072562e-03 1.28380516e+01] [ 2.81070331e-02 9.99399147e-01 -2.02815220e-02 -1.89940258e-01] [ 2.93044714e-03 2.02070691e-02 9.99791522e-01 -2.00441434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40719347 meters Centerline goodness : 0.903239 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.19, Z:-2.00 [[ 9.99712978e-01 -2.37880615e-02 -2.84407553e-03 1.28384394e+01] [ 2.37424814e-02 9.99603920e-01 -1.51095361e-02 -1.93896264e-01] [ 3.20237563e-03 1.50376740e-02 9.99881800e-01 -2.00356464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43719347 meters Centerline goodness : 0.899174 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.20, Z:-2.00 [[ 9.99838510e-01 -1.77781028e-02 -2.62527825e-03 1.28362810e+01] [ 1.77540229e-02 9.99802531e-01 -8.92717507e-03 -1.96551518e-01] [ 2.78346808e-03 8.87912417e-03 9.99956706e-01 -2.00131767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46719347 meters Centerline goodness : 0.900811 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.20, Z:-2.00 [[ 9.99912420e-01 -1.32323853e-02 -2.39277764e-04 1.28554247e+01] [ 1.32296359e-02 9.99870450e-01 -9.16837054e-03 -1.96720298e-01] [ 3.60566177e-04 9.16440201e-03 9.99957941e-01 -2.00320413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49719346999998 meters Centerline goodness : 0.896405 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.20, Z:-2.01 [[ 9.99958996e-01 -8.17336326e-03 3.89902755e-03 1.28672452e+01] [ 8.22985834e-03 9.99858072e-01 -1.47004997e-02 -1.96817954e-01] [-3.77832165e-03 1.47319854e-02 9.99884340e-01 -2.00697496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52719347 meters Centerline goodness : 0.898223 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.20, Z:-2.01 [[ 9.99970040e-01 -5.07053216e-03 5.84878353e-03 1.28860754e+01] [ 5.16474551e-03 9.99855316e-01 -1.62071719e-02 -1.98145053e-01] [-5.76575831e-03 1.62368938e-02 9.99851549e-01 -2.00799793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55719347 meters Centerline goodness : 0.898197 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.20, Z:-2.01 [[ 9.99976745e-01 -3.65459362e-03 5.75786331e-03 1.28855214e+01] [ 3.73333860e-03 9.99898835e-01 -1.37252094e-02 -2.04241044e-01] [-5.70712076e-03 1.37463863e-02 9.99889227e-01 -2.00672555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58719347 meters Centerline goodness : 0.900919 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.21, Z:-2.01 [[ 9.99977748e-01 -1.81575439e-03 6.41924635e-03 1.29053802e+01] [ 1.90982981e-03 9.99890425e-01 -1.46795871e-02 -2.08076674e-01] [-6.39188844e-03 1.46915201e-02 9.99871643e-01 -2.00696118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61719347 meters Centerline goodness : 0.901848 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.21, Z:-2.01 [[ 9.99980547e-01 -2.20223786e-03 5.83570894e-03 1.29072437e+01] [ 2.28456343e-03 9.99897439e-01 -1.41382980e-02 -2.11792668e-01] [-5.80397454e-03 1.41513550e-02 9.99883020e-01 -2.00773867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64719347 meters Centerline goodness : 0.902841 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.22, Z:-2.01 [[ 9.99977842e-01 -3.92727305e-03 5.37521758e-03 1.29095918e+01] [ 4.00578314e-03 9.99884308e-01 -1.46739518e-02 -2.18875655e-01] [-5.31696710e-03 1.46951586e-02 9.99877884e-01 -2.00960457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67719347 meters Centerline goodness : 0.902246 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.22, Z:-2.01 [[ 9.99979407e-01 -4.34851887e-03 4.71969909e-03 1.29118485e+01] [ 4.41550308e-03 9.99888342e-01 -1.42760852e-02 -2.21980909e-01] [-4.65709227e-03 1.42966311e-02 9.99886953e-01 -2.01075884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70719347 meters Centerline goodness : 0.904613 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.23, Z:-2.01 [[ 9.99980470e-01 -4.73016378e-03 4.08477214e-03 1.29140188e+01] [ 4.78629468e-03 9.99892728e-01 -1.38428368e-02 -2.25408809e-01] [-4.01885508e-03 1.38621174e-02 9.99895840e-01 -2.01181722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73719347 meters Centerline goodness : 0.904967 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.23, Z:-2.01 [[ 9.99982242e-01 -4.67914023e-03 3.69069977e-03 1.29149584e+01] [ 4.72545138e-03 9.99908936e-01 -1.26407810e-02 -2.29714306e-01] [-3.63121570e-03 1.26579967e-02 9.99913291e-01 -2.01174212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76719347 meters Centerline goodness : 0.902442 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.23, Z:-2.01 [[ 9.99953440e-01 -9.07112187e-03 3.29120380e-03 1.29168678e+01] [ 9.12098410e-03 9.99838801e-01 -1.54654086e-02 -2.34871231e-01] [-3.15038465e-03 1.54947076e-02 9.99874987e-01 -2.01276605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79719347 meters Centerline goodness : 0.900827 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99950148e-01 -9.58234613e-03 2.80707719e-03 1.29185010e+01] [ 9.62332605e-03 9.99841657e-01 -1.49684082e-02 -2.37606207e-01] [-2.66320024e-03 1.49946754e-02 9.99884027e-01 -2.01339422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82719347 meters Centerline goodness : 0.905262 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99947791e-01 -9.97680671e-03 2.20880312e-03 1.29200501e+01] [ 1.00078667e-02 9.99844374e-01 -1.45282764e-02 -2.40320854e-01] [-2.06351357e-03 1.45496233e-02 9.99892019e-01 -2.01365517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85719347 meters Centerline goodness : 0.906017 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99950089e-01 -9.83130630e-03 1.77889763e-03 1.29206487e+01] [ 9.85472241e-03 9.99857974e-01 -1.36716996e-02 -2.43350557e-01] [-1.64423432e-03 1.36885477e-02 9.99904956e-01 -2.01304748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88719347 meters Centerline goodness : 0.903231 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.25, Z:-2.01 [[ 9.99950475e-01 -9.86480263e-03 1.31634596e-03 1.29214865e+01] [ 9.88152587e-03 9.99861815e-01 -1.33680879e-02 -2.45004471e-01] [-1.18429052e-03 1.33804333e-02 9.99909777e-01 -2.01277642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91719347 meters Centerline goodness : 0.906031 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.24, Z:-2.01 [[ 9.99963859e-01 -8.48642940e-03 5.10755538e-04 1.29243393e+01] [ 8.49194737e-03 9.99891965e-01 -1.19977065e-02 -2.44727886e-01] [-4.08882669e-04 1.20016102e-02 9.99927894e-01 -2.01450093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94719347 meters Centerline goodness : 0.908095 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.24, Z:-2.02 [[ 9.99980655e-01 -6.20846643e-03 -3.81522726e-04 1.29276441e+01] [ 6.20460373e-03 9.99936514e-01 -9.40594720e-03 -2.43918704e-01] [ 4.39895012e-04 9.40339804e-03 9.99955690e-01 -2.01638271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97719347 meters Centerline goodness : 0.906657 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.24, Z:-2.02 [[ 9.99991949e-01 -3.85334123e-03 -1.11999527e-03 1.29306744e+01] [ 3.84570606e-03 9.99969883e-01 -6.74117404e-03 -2.43609510e-01] [ 1.14593759e-03 6.73681259e-03 9.99976651e-01 -2.01827105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00719347 meters Centerline goodness : 0.910822 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.24, Z:-2.02 [[ 9.99992013e-01 2.43872512e-04 3.98937623e-03 1.29433794e+01] [-1.92355089e-04 9.99916658e-01 -1.29089442e-02 -2.41370005e-01] [-3.99219188e-03 1.29080737e-02 9.99908718e-01 -2.02257873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03719347 meters Centerline goodness : 0.909920 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.24, Z:-2.02 [[ 9.99993002e-01 2.65947052e-04 3.73157963e-03 1.29434640e+01] [-2.18051320e-04 9.99917671e-01 -1.28297845e-02 -2.41778088e-01] [-3.73468446e-03 1.28288810e-02 9.99910732e-01 -2.02178409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06719347 meters Centerline goodness : 0.912625 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.24, Z:-2.02 [[ 9.99994084e-01 1.64837775e-04 3.43581707e-03 1.29436308e+01] [-1.20894193e-04 9.99918247e-01 -1.27861353e-02 -2.42294795e-01] [-3.43764382e-03 1.27856442e-02 9.99912351e-01 -2.02093933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09719347 meters Centerline goodness : 0.914285 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.24, Z:-2.02 [[ 9.99980878e-01 1.64329060e-03 5.96175004e-03 1.29622443e+01] [-1.54142074e-03 9.99853420e-01 -1.70517827e-02 -2.41608745e-01] [-5.98889720e-03 1.70422671e-02 9.99836834e-01 -2.02269757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12719347 meters Centerline goodness : 0.915529 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.02 [[ 9.99977541e-01 4.20030393e-03 5.22261127e-03 1.29650883e+01] [-4.12686520e-03 9.99893565e-01 -1.39938354e-02 -2.40980417e-01] [-5.28083377e-03 1.39719681e-02 9.99888442e-01 -2.02437286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15719347 meters Centerline goodness : 0.911872 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99974224e-01 5.74220494e-03 4.31026276e-03 1.29687246e+01] [-5.69015268e-03 9.99911891e-01 -1.19930016e-02 -2.41431458e-01] [-4.37874926e-03 1.19681664e-02 9.99918791e-01 -2.02658076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18719347 meters Centerline goodness : 0.916241 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99979709e-01 5.15836037e-03 3.73797932e-03 1.29706321e+01] [-5.11144415e-03 9.99909382e-01 -1.24539196e-02 -2.41308145e-01] [-3.80188239e-03 1.24345604e-02 9.99915460e-01 -2.02756132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21719347 meters Centerline goodness : 0.913357 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99983199e-01 4.87865648e-03 3.13061782e-03 1.29721848e+01] [-4.83929699e-03 9.99910671e-01 -1.24591992e-02 -2.42523014e-01] [-3.19112232e-03 1.24438399e-02 9.99917480e-01 -2.02798337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24719346999998 meters Centerline goodness : 0.915792 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:-2.03 [[ 9.99987724e-01 4.36302663e-03 2.34875150e-03 1.29745161e+01] [-4.33332255e-03 9.99912399e-01 -1.25066744e-02 -2.44538206e-01] [-2.40311270e-03 1.24963429e-02 9.99919030e-01 -2.02896047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27719347 meters Centerline goodness : 0.912414 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.25, Z:-2.03 [[ 9.99992751e-01 3.48204268e-03 1.54074906e-03 1.29769678e+01] [-3.46204294e-03 9.99912107e-01 -1.27981779e-02 -2.45583279e-01] [-1.58517744e-03 1.27927510e-02 9.99916913e-01 -2.03004664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30719347 meters Centerline goodness : 0.916667 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.25, Z:-2.03 [[ 9.99997611e-01 2.08067708e-03 6.70123698e-04 1.29802970e+01] [-2.07131779e-03 9.99904322e-01 -1.36768284e-02 -2.46233007e-01] [-6.98516645e-04 1.36754077e-02 9.99906243e-01 -2.03206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33719347 meters Centerline goodness : 0.915523 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.25, Z:-2.03 [[ 9.99999428e-01 1.06198709e-03 -1.28786052e-04 1.29833005e+01] [-1.06371186e-03 9.99898225e-01 -1.42270336e-02 -2.46851614e-01] [ 1.13664019e-04 1.42271624e-02 9.99898782e-01 -2.03386650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36719347 meters Centerline goodness : 0.914827 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99999698e-01 -7.27490589e-05 -7.74222412e-04 1.29853623e+01] [ 6.15745082e-05 9.99895974e-01 -1.44235059e-02 -2.48142640e-01] [ 7.75191169e-04 1.44234539e-02 9.99895676e-01 -2.03453874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39719347 meters Centerline goodness : 0.915943 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99999059e-01 -6.14229066e-04 -1.22659506e-03 1.29862915e+01] [ 5.96564910e-04 9.99896859e-01 -1.43497768e-02 -2.49342030e-01] [ 1.23528260e-03 1.43490316e-02 9.99896284e-01 -2.03426752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42719347 meters Centerline goodness : 0.916226 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99988140e-01 -4.67533337e-03 -1.36433103e-03 1.29858696e+01] [ 4.65051485e-03 9.99833236e-01 -1.76599353e-02 -2.51985941e-01] [ 1.44666959e-03 1.76533810e-02 9.99843120e-01 -2.03293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45719347 meters Centerline goodness : 0.916748 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99986049e-01 -4.99187335e-03 -1.72694631e-03 1.29867266e+01] [ 4.96133276e-03 9.99838748e-01 -1.72587067e-02 -2.53989226e-01] [ 1.81282112e-03 1.72498980e-02 9.99849566e-01 -2.03287258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48719347 meters Centerline goodness : 0.917589 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99982313e-01 -5.56613053e-03 -2.09558841e-03 1.29879027e+01] [ 5.52908986e-03 9.99835319e-01 -1.72848008e-02 -2.54659612e-01] [ 2.19145277e-03 1.72729084e-02 9.99848411e-01 -2.03327355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51719347 meters Centerline goodness : 0.919114 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.03 [[ 9.99977277e-01 -6.32299795e-03 -2.33765109e-03 1.29889332e+01] [ 6.28023641e-03 9.99820624e-01 -1.78683836e-02 -2.52881818e-01] [ 2.45021352e-03 1.78532966e-02 9.99837615e-01 -2.03376213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54719347 meters Centerline goodness : 0.917797 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.25, Z:-2.04 [[ 9.99986189e-01 -4.16567139e-03 -3.20465928e-03 1.29920811e+01] [ 4.11655975e-03 9.99876273e-01 -1.51819854e-02 -2.52687492e-01] [ 3.26750594e-03 1.51685835e-02 9.99879611e-01 -2.03529305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57719347 meters Centerline goodness : 0.915143 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.25, Z:-2.04 [[ 9.99989019e-01 -2.00231954e-03 -4.23716112e-03 1.29955615e+01] [ 1.94821680e-03 9.99917016e-01 -1.27344627e-02 -2.52138460e-01] [ 4.26230797e-03 1.27260680e-02 9.99909936e-01 -2.03695857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60719347 meters Centerline goodness : 0.915143 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.25, Z:-2.04 [[ 9.99989019e-01 -2.00231954e-03 -4.23716112e-03 1.29955615e+01] [ 1.94821680e-03 9.99917016e-01 -1.27344627e-02 -2.52138460e-01] [ 4.26230797e-03 1.27260680e-02 9.99909936e-01 -2.03695857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63719347 meters Centerline goodness : 0.913154 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.25, Z:-2.04 [[ 9.99986994e-01 -5.36176351e-04 -5.07183185e-03 1.29986798e+01] [ 4.79053259e-04 9.99936519e-01 -1.12573301e-02 -2.50962877e-01] [ 5.07754580e-03 1.12547540e-02 9.99923772e-01 -2.03853695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66719347 meters Centerline goodness : 0.917669 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.25, Z:-2.04 [[ 9.99997094e-01 1.96904520e-03 -1.39128418e-03 1.30155507e+01] [-1.99088792e-03 9.99871975e-01 -1.58767150e-02 -2.45471945e-01] [ 1.35984409e-03 1.58794388e-02 9.99872989e-01 -2.03990878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69719347 meters Centerline goodness : 0.913135 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.24, Z:-2.04 [[ 9.99988198e-01 4.27053839e-03 -2.31674383e-03 1.30182601e+01] [-4.30123216e-03 9.99900837e-01 -1.34095496e-02 -2.44073974e-01] [ 2.25924810e-03 1.34193561e-02 9.99907404e-01 -2.04073283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72719347 meters Centerline goodness : 0.907676 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.24, Z:-2.04 [[ 9.99974887e-01 6.28743204e-03 -3.27003841e-03 1.30215086e+01] [-6.32317698e-03 9.99919086e-01 -1.10380610e-02 -2.43361252e-01] [ 3.20037276e-03 1.10584609e-02 9.99933732e-01 -2.04207772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75719347 meters Centerline goodness : 0.909580 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.24, Z:-2.04 [[ 9.99977750e-01 5.35532213e-03 -3.97754937e-03 1.30236713e+01] [-5.40406794e-03 9.99909166e-01 -1.23473053e-02 -2.40747253e-01] [ 3.91106428e-03 1.23685255e-02 9.99915858e-01 -2.04308344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78719347 meters Centerline goodness : 0.907497 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.24, Z:-2.04 [[ 9.99962921e-01 7.24213654e-03 -4.65925311e-03 1.30264299e+01] [-7.28913254e-03 9.99921920e-01 -1.01499502e-02 -2.39816211e-01] [ 4.58538199e-03 1.01835358e-02 9.99937633e-01 -2.04448080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81719347 meters Centerline goodness : 0.905468 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.24, Z:-2.04 [[ 9.99937227e-01 9.82075444e-03 -5.39396094e-03 1.30279494e+01] [-9.86233364e-03 9.99921436e-01 -7.73674083e-03 -2.36335114e-01] [ 5.31755653e-03 7.78945221e-03 9.99955523e-01 -2.04415732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84719347 meters Centerline goodness : 0.905309 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.23, Z:-2.04 [[ 9.99935457e-01 9.72975163e-03 -5.86637675e-03 1.30287563e+01] [-9.77846527e-03 9.99917467e-01 -8.33317287e-03 -2.33931691e-01] [ 5.78481287e-03 8.38999918e-03 9.99948071e-01 -2.04399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87719347 meters Centerline goodness : 0.906093 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.23, Z:-2.04 [[ 9.99904175e-01 1.21551757e-02 -6.62508660e-03 1.30312114e+01] [-1.21931292e-02 9.99909307e-01 -5.71879442e-03 -2.33375824e-01] [ 6.55497280e-03 5.79902696e-03 9.99961701e-01 -2.04480190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90719347 meters Centerline goodness : 0.904967 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.23, Z:-2.05 [[ 9.99895196e-01 1.42434122e-02 -2.59282820e-03 1.30459597e+01] [-1.42787429e-02 9.99797785e-01 -1.41600038e-02 -2.27454965e-01] [ 2.39061712e-03 1.41955421e-02 9.99896380e-01 -2.04905203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93719347 meters Centerline goodness : 0.903892 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.23, Z:-2.05 [[ 9.99847765e-01 1.71091406e-02 -3.42400902e-03 1.30486299e+01] [-1.71467382e-02 9.99789464e-01 -1.12702079e-02 -2.26434413e-01] [ 3.23046457e-03 1.13272028e-02 9.99930627e-01 -2.05013601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96719347 meters Centerline goodness : 0.902671 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.23, Z:-2.05 [[ 9.99785648e-01 2.03161534e-02 -3.98898778e-03 1.30504887e+01] [-2.03481141e-02 9.99759801e-01 -8.14214487e-03 -2.25206727e-01] [ 3.82261256e-03 8.22156796e-03 9.99958896e-01 -2.05083073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99719346999998 meters Centerline goodness : 0.903566 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.22, Z:-2.05 [[ 9.99709524e-01 2.37064118e-02 -4.34446583e-03 1.30517691e+01] [-2.37275439e-02 9.99706557e-01 -4.87890409e-03 -2.23440200e-01] [ 4.22752966e-03 4.98057039e-03 9.99978661e-01 -2.05118192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02719347 meters Centerline goodness : 0.903311 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.22, Z:-2.06 [[ 9.99596251e-01 2.83964586e-02 -9.88084086e-04 1.30686768e+01] [-2.84043626e-02 9.99554111e-01 -9.20714533e-03 -2.16873193e-01] [ 7.26193189e-04 9.23149385e-03 9.99957125e-01 -2.05508099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05719347 meters Centerline goodness : 0.903697 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.21, Z:-2.06 [[ 9.99570234e-01 2.92249895e-02 2.29082299e-03 1.30854656e+01] [-2.91824590e-02 9.99432832e-01 -1.68047068e-02 -2.13228529e-01] [-2.78064109e-03 1.67306328e-02 9.99856167e-01 -2.05862995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08719347 meters Centerline goodness : 0.905147 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.21, Z:-2.06 [[ 9.99462297e-01 3.27363614e-02 1.85693249e-03 1.30862877e+01] [-3.27098532e-02 9.99382208e-01 -1.28556837e-02 -2.14283634e-01] [-2.27663360e-03 1.27880312e-02 9.99915638e-01 -2.05795995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11719347 meters Centerline goodness : 0.905533 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.21, Z:-2.06 [[ 9.99349621e-01 3.56566511e-02 5.37940065e-03 1.31025914e+01] [-3.55701513e-02 9.99248531e-01 -1.53992846e-02 -2.14361971e-01] [-5.92444512e-03 1.51979232e-02 9.99866953e-01 -2.05812986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14719347 meters Centerline goodness : 0.910821 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.21, Z:-2.06 [[ 9.99185735e-01 3.93017523e-02 9.12357317e-03 1.31183149e+01] [-3.91182497e-02 9.99044527e-01 -1.94883586e-02 -2.12135944e-01] [-9.88078248e-03 1.91155917e-02 9.99768455e-01 -2.05944903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17719347 meters Centerline goodness : 0.909846 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.21, Z:-2.06 [[ 9.99074508e-01 4.21797600e-02 8.42582899e-03 1.31207760e+01] [-4.20405852e-02 9.98986769e-01 -1.60631340e-02 -2.13328334e-01] [-9.09483082e-03 1.56940409e-02 9.99835477e-01 -2.06030785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20719347 meters Centerline goodness : 0.909278 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.21, Z:-2.06 [[ 9.98998084e-01 4.40962203e-02 7.63882661e-03 1.31243555e+01] [-4.39876103e-02 9.98936120e-01 -1.38462111e-02 -2.14376438e-01] [-8.24126539e-03 1.34963246e-02 9.99874958e-01 -2.06270419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23719347 meters Centerline goodness : 0.902969 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.21, Z:-2.07 [[ 9.98949428e-01 4.54116892e-02 6.14969952e-03 1.31312066e+01] [-4.53332744e-02 9.98895690e-01 -1.23407822e-02 -2.14999517e-01] [-6.70332411e-03 1.20490313e-02 9.99904939e-01 -2.06854304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26719347 meters Centerline goodness : 0.899575 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.22, Z:-2.07 [[ 9.98989188e-01 4.46313574e-02 5.35195063e-03 1.31344828e+01] [-4.45586593e-02 9.98922053e-01 -1.30098894e-02 -2.15214205e-01] [-5.92683054e-03 1.27582631e-02 9.99901045e-01 -2.07109363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29719347 meters Centerline goodness : 0.898486 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.22, Z:-2.07 [[ 9.99012918e-01 4.41721178e-02 4.69185257e-03 1.31369268e+01] [-4.41075715e-02 9.98941298e-01 -1.30692520e-02 -2.16845998e-01] [-5.26418184e-03 1.28494053e-02 9.99903586e-01 -2.07266545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32719347 meters Centerline goodness : 0.897547 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.22, Z:-2.07 [[ 9.99036615e-01 4.37022239e-02 3.99460522e-03 1.31387906e+01] [-4.36482243e-02 9.98965844e-01 -1.27308434e-02 -2.20691178e-01] [-4.54684034e-03 1.25442213e-02 9.99910980e-01 -2.07328776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35719347 meters Centerline goodness : 0.901804 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.23, Z:-2.07 [[ 9.99127997e-01 4.15732750e-02 3.86126517e-03 1.31371835e+01] [-4.15179952e-02 9.99047407e-01 -1.34363332e-02 -2.30559729e-01] [-4.41617933e-03 1.32643047e-02 9.99902273e-01 -2.07113076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38719347 meters Centerline goodness : 0.899057 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.23, Z:-2.07 [[ 9.99147423e-01 4.11551250e-02 3.26839549e-03 1.31392220e+01] [-4.11086642e-02 9.99067524e-01 -1.31969837e-02 -2.33998405e-01] [-3.80847130e-03 1.30513729e-02 9.99907574e-01 -2.07229372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41719347 meters Centerline goodness : 0.901835 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.24, Z:-2.07 [[ 9.99140610e-01 4.13393743e-02 3.01631790e-03 1.31403060e+01] [-4.12984508e-02 9.99067915e-01 -1.25594298e-02 -2.36163698e-01] [-3.53270541e-03 1.24240671e-02 9.99916578e-01 -2.07316504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44719347 meters Centerline goodness : 0.904585 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.24, Z:-2.08 [[ 9.99051824e-01 4.34766080e-02 2.28847181e-03 1.31433633e+01] [-4.34538499e-02 9.99013082e-01 -9.19919989e-03 -2.42905037e-01] [-2.68616328e-03 9.09103452e-03 9.99955068e-01 -2.07549152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47719347 meters Centerline goodness : 0.907421 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.25, Z:-2.08 [[ 9.99045129e-01 4.36545426e-02 1.76391252e-03 1.31449795e+01] [-4.36385974e-02 9.99013361e-01 -8.24480755e-03 -2.47044814e-01] [-2.12209547e-03 8.15996016e-03 9.99964455e-01 -2.07626036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50719347 meters Centerline goodness : 0.905589 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.25, Z:-2.08 [[ 9.99058190e-01 4.33749783e-02 1.15942860e-03 1.31467277e+01] [-4.33646787e-02 9.99028995e-01 -7.78278569e-03 -2.52214172e-01] [-1.49588094e-03 7.72517754e-03 9.99969042e-01 -2.07709475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53719347 meters Centerline goodness : 0.910579 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.26, Z:-2.07 [[ 9.99131111e-01 4.16576502e-02 1.28934287e-03 1.31438918e+01] [-4.16469368e-02 9.99104639e-01 -7.44664916e-03 -2.64359744e-01] [-1.59839835e-03 7.38648167e-03 9.99971442e-01 -2.07338370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56719347 meters Centerline goodness : 0.914957 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.27, Z:-2.07 [[ 9.99248627e-01 3.87373083e-02 1.26570799e-03 1.31427673e+01] [-3.87233326e-02 9.99203385e-01 -9.64881569e-03 -2.69020793e-01] [-1.63846885e-03 9.59255340e-03 9.99952648e-01 -2.07199681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59719347 meters Centerline goodness : 0.919769 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.27, Z:-2.08 [[ 9.99345189e-01 3.45618375e-02 1.07085056e-02 1.31504870e+01] [-3.44726835e-02 9.99370329e-01 -8.40121349e-03 -2.74160943e-01] [-1.09921241e-02 8.02656136e-03 9.99907369e-01 -2.07584911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62719347 meters Centerline goodness : 0.916719 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.28, Z:-2.08 [[ 9.99435895e-01 3.16777541e-02 1.11540124e-02 1.31499799e+01] [-3.15796801e-02 9.99461952e-01 -8.86175677e-03 -2.83823506e-01] [-1.14287316e-02 8.50451766e-03 9.99898523e-01 -2.07574076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65719347 meters Centerline goodness : 0.918683 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.29, Z:-2.08 [[ 9.99501429e-01 2.98077725e-02 1.04110317e-02 1.31530522e+01] [-2.97074555e-02 9.99511947e-01 -9.66095380e-03 -2.88201690e-01] [-1.06939221e-02 9.34685187e-03 9.99899133e-01 -2.07777305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68719347 meters Centerline goodness : 0.919093 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.29, Z:-2.08 [[ 9.99603068e-01 2.62373902e-02 1.02618374e-02 1.31536127e+01] [-2.61086967e-02 9.99581204e-01 -1.24801005e-02 -2.91980864e-01] [-1.05849850e-02 1.22072236e-02 9.99869462e-01 -2.07841347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71719347 meters Centerline goodness : 0.922330 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.30, Z:-2.08 [[ 9.99752212e-01 1.98187600e-02 1.01356735e-02 1.31525286e+01] [-1.96562649e-02 9.99680552e-01 -1.58879053e-02 -3.03854985e-01] [-1.04473143e-02 1.56847390e-02 9.99822406e-01 -2.07552622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74719346999998 meters Centerline goodness : 0.924626 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.31, Z:-2.07 [[ 9.99813414e-01 1.64554485e-02 1.01171162e-02 1.31519849e+01] [-1.62691898e-02 9.99701539e-01 -1.82248625e-02 -3.09085907e-01] [-1.04139949e-02 1.80568647e-02 9.99782726e-01 -2.07471149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77719347 meters Centerline goodness : 0.927324 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.31, Z:-2.08 [[ 9.99874781e-01 1.24322219e-02 9.79096485e-03 1.31531274e+01] [-1.22180945e-02 9.99691293e-01 -2.16341655e-02 -3.11939333e-01] [-1.00569031e-02 2.15118296e-02 9.99718010e-01 -2.07552521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80719347 meters Centerline goodness : 0.927397 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.32, Z:-2.07 [[ 9.99976041e-01 5.29160029e-03 4.46270723e-03 1.31552179e+01] [-5.24942883e-03 9.99941954e-01 -9.40910524e-03 -3.18782885e-01] [-4.51223742e-03 9.38545314e-03 9.99945775e-01 -2.07419321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83719347 meters Centerline goodness : 0.924972 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.32, Z:-2.08 [[ 9.99983883e-01 4.34849147e-03 3.65015773e-03 1.31584957e+01] [-4.31303361e-03 9.99943978e-01 -9.66636670e-03 -3.21102630e-01] [-3.69198735e-03 9.65046766e-03 9.99946617e-01 -2.07642990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86719347 meters Centerline goodness : 0.925099 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.32, Z:-2.08 [[ 9.99989203e-01 3.65356127e-03 2.87150239e-03 1.31613830e+01] [-3.62573921e-03 9.99947007e-01 -9.63523017e-03 -3.23861753e-01] [-2.90655313e-03 9.62471482e-03 9.99949457e-01 -2.07827336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89719347 meters Centerline goodness : 0.922891 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.33, Z:-2.08 [[ 9.99994225e-01 2.67938771e-03 2.09069170e-03 1.31644574e+01] [-2.65810846e-03 9.99945306e-01 -1.01153404e-02 -3.25751194e-01] [-2.11768027e-03 1.01097247e-02 9.99946653e-01 -2.08027546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92719347 meters Centerline goodness : 0.924041 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99995161e-01 2.58525444e-03 1.73022090e-03 1.31654613e+01] [-2.56829336e-03 9.99949322e-01 -9.73430573e-03 -3.27860189e-01] [-1.75529888e-03 9.72981492e-03 9.99951124e-01 -2.08051886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95719347 meters Centerline goodness : 0.923238 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99995394e-01 2.68158060e-03 1.42154825e-03 1.31661442e+01] [-2.66798967e-03 9.99951525e-01 -9.47785376e-03 -3.29193629e-01] [-1.44689497e-03 9.47401743e-03 9.99954074e-01 -2.08052622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98719347 meters Centerline goodness : 0.922361 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99994368e-01 3.15569930e-03 1.14262929e-03 1.31664719e+01] [-3.14514107e-03 9.99953401e-01 -9.12709672e-03 -3.30180414e-01] [-1.17137842e-03 9.12345159e-03 9.99957694e-01 -2.08033218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01719347 meters Centerline goodness : 0.923450 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99993847e-01 3.37755712e-03 9.48093294e-04 1.31668762e+01] [-3.36895530e-03 9.99954431e-01 -8.93228567e-03 -3.30388854e-01] [-9.78219395e-04 8.92903663e-03 9.99959657e-01 -2.08033594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04719347 meters Centerline goodness : 0.920461 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99985631e-01 5.35262509e-03 2.96815054e-04 1.31692249e+01] [-5.35055118e-03 9.99963933e-01 -6.59580999e-03 -3.32434347e-01] [-3.32109247e-04 6.59412709e-03 9.99978203e-01 -2.08141043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07719347 meters Centerline goodness : 0.915453 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.33, Z:-2.08 [[ 9.99986794e-01 5.13879188e-03 -6.50914693e-05 1.31701063e+01] [-5.13910733e-03 9.99965481e-01 -6.52886913e-03 -3.33638684e-01] [ 3.15387227e-05 6.52911742e-03 9.99978685e-01 -2.08149910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10719347 meters Centerline goodness : 0.916466 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99986161e-01 5.26084479e-03 -4.60307116e-05 1.31692813e+01] [-5.26100739e-03 9.99974105e-01 -4.91032600e-03 -3.38521240e-01] [ 2.01970567e-05 4.91050021e-03 9.99987943e-01 -2.07914869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13719347 meters Centerline goodness : 0.915780 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99988843e-01 4.71204139e-03 -3.32158973e-04 1.31701231e+01] [-4.71362413e-03 9.99976703e-01 -4.93717692e-03 -3.39876614e-01] [ 3.08887053e-04 4.93868751e-03 9.99987757e-01 -2.07907071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16719347 meters Centerline goodness : 0.916400 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99992677e-01 3.71751739e-03 -9.08475142e-04 1.31718751e+01] [-3.72232596e-03 9.99978761e-01 -5.34991623e-03 -3.41058279e-01] [ 8.88567440e-04 5.35325869e-03 9.99985276e-01 -2.07942193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19719347 meters Centerline goodness : 0.914292 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99999617e-01 -1.33270025e-04 -8.65537916e-04 1.31712778e+01] [ 1.25758926e-04 9.99962388e-01 -8.67221958e-03 -3.42086714e-01] [ 8.66661108e-04 8.67210741e-03 9.99962021e-01 -2.07830595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22719347 meters Centerline goodness : 0.916085 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.34, Z:-2.08 [[ 9.99997552e-01 -1.53639506e-03 -1.59262113e-03 1.31740238e+01] [ 1.52078180e-03 9.99951225e-01 -9.75878537e-03 -3.41766819e-01] [ 1.60753680e-03 9.75633944e-03 9.99951114e-01 -2.07981721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25719347 meters Centerline goodness : 0.914088 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99993024e-01 -2.92444157e-03 -2.32362627e-03 1.31767039e+01] [ 2.89889581e-03 9.99936148e-01 -1.09222607e-02 -3.40968583e-01] [ 2.35541941e-03 1.09154485e-02 9.99937651e-01 -2.08126564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28719347 meters Centerline goodness : 0.914044 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99978906e-01 -5.62621350e-03 -3.24535986e-03 1.31803668e+01] [ 5.58341879e-03 9.99899281e-01 -1.30481127e-02 -3.39706662e-01] [ 3.31844446e-03 1.30297173e-02 9.99909603e-01 -2.08302339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31719347 meters Centerline goodness : 0.915426 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99965839e-01 -7.20061827e-03 -4.05864489e-03 1.31830666e+01] [ 7.14151070e-03 9.99870891e-01 -1.43944267e-02 -3.38988434e-01] [ 4.16176965e-03 1.43649501e-02 9.99888158e-01 -2.08418966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34719347 meters Centerline goodness : 0.914409 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:-2.08 [[ 9.99957140e-01 -8.07641916e-03 -4.52647928e-03 1.31845286e+01] [ 8.00730787e-03 9.99854170e-01 -1.50838411e-02 -3.38188267e-01] [ 4.64764261e-03 1.50469497e-02 9.99875987e-01 -2.08462103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37719347 meters Centerline goodness : 0.913031 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.34, Z:-2.09 [[ 9.99965989e-01 -6.34689819e-03 -5.26666374e-03 1.31877955e+01] [ 6.28003893e-03 9.99900698e-01 -1.26156885e-02 -3.38458129e-01] [ 5.34621124e-03 1.25821846e-02 9.99906549e-01 -2.08637638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40719347 meters Centerline goodness : 0.909883 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.33, Z:-2.09 [[ 9.99919534e-01 -9.63649065e-03 -8.25006899e-03 1.31994372e+01] [ 9.52916865e-03 9.99870731e-01 -1.29505660e-02 -3.31991614e-01] [ 8.37380052e-03 1.28709076e-02 9.99882103e-01 -2.08971490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43719347 meters Centerline goodness : 0.913063 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.33, Z:-2.09 [[ 9.99930608e-01 -7.52817454e-03 -9.06124081e-03 1.32023247e+01] [ 7.43287481e-03 9.99917191e-01 -1.05054167e-02 -3.30189391e-01] [ 9.13957706e-03 1.04373366e-02 9.99903760e-01 -2.09103991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46719347 meters Centerline goodness : 0.909691 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.33, Z:-2.09 [[ 9.99934058e-01 -5.48275952e-03 -1.00905288e-02 1.32055508e+01] [ 5.40084932e-03 9.99952391e-01 -8.12695918e-03 -3.28387787e-01] [ 1.01346066e-02 8.07192585e-03 9.99916063e-01 -2.09214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49719346999998 meters Centerline goodness : 0.911181 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.33, Z:-2.09 [[ 9.99933996e-01 -3.41373452e-03 -1.09704521e-02 1.32083830e+01] [ 3.34854373e-03 9.99976661e-01 -5.95528204e-03 -3.26546838e-01] [ 1.09905258e-02 5.91815392e-03 9.99922089e-01 -2.09314991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52719347 meters Centerline goodness : 0.911181 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.33, Z:-2.09 [[ 9.99933996e-01 -3.41373452e-03 -1.09704521e-02 1.32083830e+01] [ 3.34854373e-03 9.99976661e-01 -5.95528204e-03 -3.26546838e-01] [ 1.09905258e-02 5.91815392e-03 9.99922089e-01 -2.09314991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55719347 meters Centerline goodness : 0.906242 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.32, Z:-2.09 [[ 9.99929114e-01 -1.23117920e-03 -1.18427335e-02 1.32111971e+01] [ 1.17892375e-03 9.99989544e-01 -4.41841790e-03 -3.22762173e-01] [ 1.18480495e-02 4.40414302e-03 9.99920110e-01 -2.09450031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58719347 meters Centerline goodness : 0.905877 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.32, Z:-2.10 [[ 9.99918783e-01 1.15559075e-03 -1.26921765e-02 1.32142752e+01] [-1.18448859e-03 9.99996723e-01 -2.26954209e-03 -3.20331270e-01] [ 1.26895122e-02 2.28439150e-03 9.99916875e-01 -2.09611030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61719347 meters Centerline goodness : 0.906663 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.32, Z:-2.10 [[ 9.99954961e-01 5.09894904e-03 -8.00479830e-03 1.32278403e+01] [-5.17083146e-03 9.99946264e-01 -8.98505160e-03 -3.15497742e-01] [ 7.95855384e-03 9.02603839e-03 9.99927593e-01 -2.10112184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64719347 meters Centerline goodness : 0.906226 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.31, Z:-2.10 [[ 9.99910760e-01 1.27944238e-02 -3.84390954e-03 1.32432233e+01] [-1.28382593e-02 9.99850249e-01 -1.16042839e-02 -3.05150243e-01] [ 3.69486379e-03 1.16525974e-02 9.99925280e-01 -2.10478062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67719347 meters Centerline goodness : 0.904746 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.30, Z:-2.10 [[ 9.99854795e-01 1.65812110e-02 -3.93083133e-03 1.32433146e+01] [-1.66140381e-02 9.99826092e-01 -8.47106857e-03 -3.01723587e-01] [ 3.78968715e-03 8.53514551e-03 9.99956394e-01 -2.10408184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70719347 meters Centerline goodness : 0.905898 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.30, Z:-2.10 [[ 9.99787278e-01 2.01825817e-02 -4.24990849e-03 1.32439632e+01] [-2.02051790e-02 9.99781577e-01 -5.34308024e-03 -2.98793724e-01] [ 4.14114306e-03 5.42781381e-03 9.99976695e-01 -2.10365334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73719347 meters Centerline goodness : 0.904624 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.29, Z:-2.10 [[ 9.99789382e-01 2.00230268e-02 -4.50228108e-03 1.32445879e+01] [-2.00520377e-02 9.99777850e-01 -6.49353747e-03 -2.94473313e-01] [ 4.37126062e-03 6.58244973e-03 9.99968781e-01 -2.10382967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76719347 meters Centerline goodness : 0.901509 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.29, Z:-2.11 [[ 9.99751770e-01 2.21994832e-02 -1.89259996e-03 1.32636789e+01] [-2.22218105e-02 9.99672019e-01 -1.27297060e-02 -2.87564787e-01] [ 1.60938633e-03 1.27686031e-02 9.99917183e-01 -2.10799318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79719347 meters Centerline goodness : 0.898822 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.29, Z:-2.11 [[ 9.99703572e-01 2.41957324e-02 -2.70830880e-03 1.32670434e+01] [-2.42228017e-02 9.99651932e-01 -1.04532717e-02 -2.86471437e-01] [ 2.45444156e-03 1.05157759e-02 9.99941695e-01 -2.10976369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82719347 meters Centerline goodness : 0.900425 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.28, Z:-2.11 [[ 9.99728329e-01 2.30665242e-02 -3.34719398e-03 1.32696231e+01] [-2.31057989e-02 9.99658435e-01 -1.22120929e-02 -2.82908493e-01] [ 3.06436016e-03 1.22861148e-02 9.99919827e-01 -2.11159529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85719347 meters Centerline goodness : 0.898030 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.28, Z:-2.11 [[ 9.99746474e-01 2.21751085e-02 -3.90539595e-03 1.32716731e+01] [-2.22273215e-02 9.99656640e-01 -1.38761432e-02 -2.78876174e-01] [ 3.59635001e-03 1.39594317e-02 9.99896095e-01 -2.11290229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88719347 meters Centerline goodness : 0.890551 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.27, Z:-2.11 [[ 9.99680023e-01 2.48866987e-02 -4.52803112e-03 1.32739550e+01] [-2.49409081e-02 9.99612792e-01 -1.23376317e-02 -2.72368882e-01] [ 4.21923490e-03 1.24466171e-02 9.99913636e-01 -2.11398271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91719347 meters Centerline goodness : 0.890918 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.27, Z:-2.11 [[ 9.99608481e-01 2.74822166e-02 -5.25483035e-03 1.32761454e+01] [-2.75323746e-02 9.99573618e-01 -9.72370293e-03 -2.70330442e-01] [ 4.98536087e-03 9.86457387e-03 9.99938916e-01 -2.11439162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94719347 meters Centerline goodness : 0.889246 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.27, Z:-2.11 [[ 9.99629160e-01 2.66243231e-02 -5.71732333e-03 1.32773308e+01] [-2.66872434e-02 9.99580792e-01 -1.12263598e-02 -2.66612606e-01] [ 5.41603235e-03 1.13747762e-02 9.99920637e-01 -2.11465514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97719347 meters Centerline goodness : 0.894485 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.26, Z:-2.12 [[ 9.99670230e-01 2.55610544e-02 -2.46251806e-03 1.32947810e+01] [-2.56054592e-02 9.99469924e-01 -2.01055169e-02 -2.58876899e-01] [ 1.94729453e-03 2.01619406e-02 9.99794831e-01 -2.11689188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00719347 meters Centerline goodness : 0.895998 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.26, Z:-2.12 [[ 9.99618934e-01 2.74094797e-02 -3.27213298e-03 1.32973068e+01] [-2.74637033e-02 9.99463045e-01 -1.78708438e-02 -2.57635218e-01] [ 2.78054546e-03 1.79538988e-02 9.99834949e-01 -2.11734046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03719347 meters Centerline goodness : 0.896493 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.26, Z:-2.12 [[ 9.99629430e-01 2.69677748e-02 -3.70692698e-03 1.32982132e+01] [-2.70322635e-02 9.99461244e-01 -1.86139178e-02 -2.55331211e-01] [ 3.20295391e-03 1.87072266e-02 9.99819874e-01 -2.11723104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06719347 meters Centerline goodness : 0.896036 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.25, Z:-2.12 [[ 9.99653133e-01 2.59902491e-02 -4.25676939e-03 1.32994624e+01] [-2.60709973e-02 9.99456755e-01 -2.01618046e-02 -2.51383232e-01] [ 3.73044660e-03 2.02657893e-02 9.99787668e-01 -2.11719235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09719347 meters Centerline goodness : 0.895878 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.25, Z:-2.12 [[ 9.99599714e-01 2.78555287e-02 -4.94776523e-03 1.33021498e+01] [-2.79398202e-02 9.99449801e-01 -1.78734680e-02 -2.50691013e-01] [ 4.44716807e-03 1.80045532e-02 9.99828015e-01 -2.11820024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12719347 meters Centerline goodness : 0.899842 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.25, Z:-2.12 [[ 9.99515243e-01 3.06732679e-02 -5.33187248e-03 1.33036533e+01] [-3.07489278e-02 9.99418448e-01 -1.47400698e-02 -2.49870259e-01] [ 4.87664561e-03 1.48968738e-02 9.99877143e-01 -2.11848999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15719347 meters Centerline goodness : 0.900017 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99444432e-01 3.32985783e-02 -1.42543795e-03 1.33200677e+01] [-3.33204045e-02 9.99245649e-01 -1.99470067e-02 -2.43310389e-01] [ 7.60155708e-04 1.99834209e-02 9.99800023e-01 -2.12077622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18719347 meters Centerline goodness : 0.901174 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99321942e-01 3.67793900e-02 -1.71240256e-03 1.33207711e+01] [-3.68023251e-02 9.99191458e-01 -1.61870247e-02 -2.43329128e-01] [ 1.11566911e-03 1.62390694e-02 9.99867515e-01 -2.12009828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21719347 meters Centerline goodness : 0.902801 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99319838e-01 3.68250505e-02 -1.94338761e-03 1.33211280e+01] [-3.68523931e-02 9.99181473e-01 -1.66818622e-02 -2.41579028e-01] [ 1.32748647e-03 1.67421344e-02 9.99858959e-01 -2.11980119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24719346999998 meters Centerline goodness : 0.902884 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-2.12 [[ 9.99210573e-01 3.96399251e-02 -2.62800513e-03 1.33235899e+01] [-3.96720764e-02 9.99120407e-01 -1.35845158e-02 -2.41758678e-01] [ 2.08720436e-03 1.36780503e-02 9.99904273e-01 -2.12063013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27719347 meters Centerline goodness : 0.901049 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.24, Z:-2.12 [[ 9.99066285e-01 4.30848367e-02 -3.20233188e-03 1.33263305e+01] [-4.31156974e-02 9.99017096e-01 -1.02897438e-02 -2.40213616e-01] [ 2.75585236e-03 1.04182069e-02 9.99941931e-01 -2.12236792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30719347 meters Centerline goodness : 0.900066 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.24, Z:-2.12 [[ 9.99099517e-01 4.22478932e-02 -3.90778715e-03 1.33290923e+01] [-4.22900723e-02 9.99040025e-01 -1.14270610e-02 -2.38181520e-01] [ 3.42126653e-03 1.15820317e-02 9.99927073e-01 -2.12429759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33719347 meters Centerline goodness : 0.901708 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.24, Z:-2.13 [[ 9.99043320e-01 4.34499366e-02 -4.95449630e-03 1.33337099e+01] [-4.34979836e-02 9.99003050e-01 -1.00415328e-02 -2.38443965e-01] [ 4.51325295e-03 1.02474368e-02 9.99937308e-01 -2.12730894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36719347 meters Centerline goodness : 0.900652 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99073097e-01 4.26488578e-02 -5.83287653e-03 1.33366219e+01] [-4.27109596e-02 9.99027216e-01 -1.09724602e-02 -2.37629620e-01] [ 5.35923950e-03 1.12114176e-02 9.99922788e-01 -2.12894396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39719347 meters Centerline goodness : 0.898859 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99111304e-01 4.16392236e-02 -6.54047989e-03 1.33389057e+01] [-4.17141552e-02 9.99060239e-01 -1.17715141e-02 -2.38004067e-01] [ 6.04417669e-03 1.20338834e-02 9.99909323e-01 -2.13006375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42719347 meters Centerline goodness : 0.900894 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99160140e-01 4.03001615e-02 -7.41024095e-03 1.33415747e+01] [-4.03918556e-02 9.99103567e-01 -1.26712383e-02 -2.38582471e-01] [ 6.89294521e-03 1.29599096e-02 9.99892258e-01 -2.13126437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45719347 meters Centerline goodness : 0.901599 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.24, Z:-2.13 [[ 9.99216304e-01 3.86908220e-02 -8.35456027e-03 1.33445703e+01] [-3.88032753e-02 9.99152319e-01 -1.37458882e-02 -2.39097051e-01] [ 7.81563856e-03 1.40592999e-02 9.99870618e-01 -2.13266364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48719347 meters Centerline goodness : 0.901621 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.13 [[ 9.99293292e-01 3.64462776e-02 -9.19706097e-03 1.33481317e+01] [-3.65845981e-02 9.99212687e-01 -1.53484299e-02 -2.39252436e-01] [ 8.63042687e-03 1.56740538e-02 9.99839907e-01 -2.13493919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51719347 meters Centerline goodness : 0.891597 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99320414e-01 3.55365335e-02 -9.79105689e-03 1.33505791e+01] [-3.56918882e-02 9.99231894e-01 -1.61774999e-02 -2.37923466e-01] [ 9.20864406e-03 1.65159672e-02 9.99821196e-01 -2.13648505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54719347 meters Centerline goodness : 0.902939 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99353483e-01 3.43775290e-02 -1.05262750e-02 1.33532470e+01] [-3.45576288e-02 9.99250625e-01 -1.74344100e-02 -2.36117086e-01] [ 9.91903489e-03 1.77869014e-02 9.99792598e-01 -2.13806447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57719347 meters Centerline goodness : 0.899439 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99366717e-01 3.38580935e-02 -1.09450741e-02 1.33546120e+01] [-3.40510645e-02 9.99258825e-01 -1.79534528e-02 -2.35358140e-01] [ 1.03290922e-02 1.83147746e-02 9.99778915e-01 -2.13859979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60719347 meters Centerline goodness : 0.898954 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.24, Z:-2.14 [[ 9.99381029e-01 3.34447162e-02 -1.09091578e-02 1.33542767e+01] [-3.36374584e-02 9.99272162e-01 -1.79907492e-02 -2.36310415e-01] [ 1.02995222e-02 1.83465698e-02 9.99778637e-01 -2.13766920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63719347 meters Centerline goodness : 0.902806 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.24, Z:-2.13 [[ 9.99455633e-01 3.13034856e-02 -1.04177693e-02 1.33615929e+01] [-3.14240071e-02 9.99438672e-01 -1.16135078e-02 -2.38082836e-01] [ 1.00483782e-02 1.19345538e-02 9.99878291e-01 -2.13405572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66719347 meters Centerline goodness : 0.901644 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.24, Z:-2.13 [[ 9.99488081e-01 3.02582606e-02 -1.03929665e-02 1.33619900e+01] [-3.03900371e-02 9.99456609e-01 -1.27645312e-02 -2.35802616e-01] [ 1.00010866e-02 1.30738395e-02 9.99864517e-01 -2.13408785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69719347 meters Centerline goodness : 0.902206 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.24, Z:-2.14 [[ 9.99417765e-01 3.22637681e-02 -1.10986806e-02 1.33649831e+01] [-3.23786113e-02 9.99422310e-01 -1.03282276e-02 -2.35095376e-01] [ 1.07590415e-02 1.06815740e-02 9.99885067e-01 -2.13551179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72719347 meters Centerline goodness : 0.904076 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.23, Z:-2.14 [[ 9.99430313e-01 3.17386553e-02 -1.14763863e-02 1.33662159e+01] [-3.18685227e-02 9.99428009e-01 -1.13159755e-02 -2.32346297e-01] [ 1.11106681e-02 1.16752645e-02 9.99870112e-01 -2.13607054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75719347 meters Centerline goodness : 0.902155 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-2.14 [[ 9.99405399e-01 3.36028304e-02 -7.72647623e-03 1.33826522e+01] [-3.37211967e-02 9.99307378e-01 -1.57367695e-02 -2.28839328e-01] [ 7.19232471e-03 1.59879584e-02 9.99846316e-01 -2.13616351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78719347 meters Centerline goodness : 0.901720 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-2.14 [[ 9.99409498e-01 3.34082056e-02 -8.03414385e-03 1.33831023e+01] [-3.35348069e-02 9.99306631e-01 -1.61763466e-02 -2.27798049e-01] [ 7.48815051e-03 1.64362179e-02 9.99836876e-01 -2.13572913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81719347 meters Centerline goodness : 0.897467 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-2.14 [[ 9.99424259e-01 3.28306147e-02 -8.56161567e-03 1.33844499e+01] [-3.29719570e-02 9.99312941e-01 -1.69261920e-02 -2.26487154e-01] [ 8.00003605e-03 1.71987401e-02 9.99820085e-01 -2.13604597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84719347 meters Centerline goodness : 0.896300 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.23, Z:-2.14 [[ 9.99390135e-01 3.30872420e-02 -1.11621384e-02 1.33909510e+01] [-3.32452195e-02 9.99345241e-01 -1.42774260e-02 -2.26315790e-01] [ 1.06824293e-02 1.46398065e-02 9.99835767e-01 -2.13605640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87719347 meters Centerline goodness : 0.902365 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.22, Z:-2.14 [[ 9.99443377e-01 3.11141490e-02 -1.20351659e-02 1.33942507e+01] [-3.13118765e-02 9.99371718e-01 -1.66052616e-02 -2.21812696e-01] [ 1.15109458e-02 1.69728623e-02 9.99789688e-01 -2.13801216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90719347 meters Centerline goodness : 0.894587 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.22, Z:-2.14 [[ 9.99472698e-01 2.98131260e-02 -1.28648180e-02 1.33967897e+01] [-3.00406162e-02 9.99388964e-01 -1.78678493e-02 -2.19637387e-01] [ 1.23242607e-02 1.82448947e-02 9.99757589e-01 -2.13909842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93719347 meters Centerline goodness : 0.902296 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.22, Z:-2.14 [[ 0.99953626 0.02574487 -0.01626257 13.40501842] [-0.02604927 0.99948403 -0.01879141 -0.21706823] [ 0.01577039 0.01920633 0.99969116 -2.13868008] [ 0. 0. 0. 1. ]] SLAMing on 150.96719347 meters Centerline goodness : 0.894100 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.22, Z:-2.14 [[ 0.99954991 0.02489284 -0.01674266 13.40659084] [-0.02522036 0.99948889 -0.0196439 -0.21541718] [ 0.01624511 0.02005731 0.99966684 -2.13931268] [ 0. 0. 0. 1. ]] SLAMing on 150.99719346999998 meters Centerline goodness : 0.895323 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.21, Z:-2.14 [[ 0.99958824 0.02277385 -0.01745589 13.40909765] [-0.02315945 0.99948491 -0.02221599 -0.20991684] [ 0.01694095 0.02261112 0.99960079 -2.14036086] [ 0. 0. 0. 1. ]] SLAMing on 151.02719347 meters Centerline goodness : 0.894493 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.21, Z:-2.14 [[ 0.99954047 0.02424702 -0.01819123 13.41221212] [-0.02461773 0.99948797 -0.02043915 -0.20781925] [ 0.01768633 0.02087759 0.99962559 -2.14182089] [ 0. 0. 0. 1. ]] SLAMing on 151.05719347 meters Centerline goodness : 0.893731 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.20, Z:-2.14 [[ 0.9994755 0.02627471 -0.01893047 13.41518919] [-0.02662356 0.99947585 -0.0184179 -0.20481888] [ 0.01843662 0.01891224 0.99965115 -2.14323543] [ 0. 0. 0. 1. ]] SLAMing on 151.08719347 meters Centerline goodness : 0.897868 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.20, Z:-2.14 [[ 0.99940135 0.02847125 -0.01965508 13.41814313] [-0.02879627 0.99944983 -0.01645633 -0.20127281] [ 0.01917573 0.01701247 0.99967138 -2.14464741] [ 0. 0. 0. 1. ]] SLAMing on 151.11719347 meters Centerline goodness : 0.894245 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.20, Z:-2.15 [[ 0.9993183 0.03074735 -0.02043368 13.42146095] [-0.03105025 0.99941008 -0.01467539 -0.19730507] [ 0.01997039 0.01529985 0.9996835 -2.14640818] [ 0. 0. 0. 1. ]] SLAMing on 151.14719347 meters Centerline goodness : 0.893922 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.18, Z:-2.15 [[ 0.99916975 0.03592057 -0.01922282 13.4422172 ] [-0.03630714 0.99913743 -0.02015405 -0.18452714] [ 0.01848229 0.02083524 0.99961207 -2.15225555] [ 0. 0. 0. 1. ]] SLAMing on 151.17719347 meters Centerline goodness : 0.892009 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.18, Z:-2.15 [[ 0.99896738 0.04079061 -0.02000757 13.44611159] [-0.04111261 0.99902712 -0.0159553 -0.18027283] [ 0.01933728 0.01676139 0.99967251 -2.15422126] [ 0. 0. 0. 1. ]] SLAMing on 151.20719347 meters Centerline goodness : 0.891847 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:-2.15 [[ 0.99882773 0.04384822 -0.020506 13.4481823 ] [-0.04414392 0.9989243 -0.01419696 -0.17484049] [ 0.01986143 0.01508553 0.99968893 -2.15497087] [ 0. 0. 0. 1. ]] SLAMing on 151.23719347 meters Centerline goodness : 0.890526 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.17, Z:-2.15 [[ 9.98647337e-01 4.74113973e-02 -2.13461146e-02 1.34506922e+01] [-4.76978198e-02 9.98775711e-01 -1.31147378e-02 -1.70150666e-01] [ 2.06981927e-02 1.41151611e-02 9.99686124e-01 -2.15463054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26719347 meters Centerline goodness : 0.892749 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.16, Z:-2.15 [[ 0.99837222 0.05213801 -0.02312007 13.4544734 ] [-0.05247934 0.99851803 -0.01441029 -0.16007864] [ 0.02233449 0.01560016 0.99962883 -2.15312702] [ 0. 0. 0. 1. ]] SLAMing on 151.29719347 meters Centerline goodness : 0.891067 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.15 [[ 0.99831677 0.0526648 -0.02429074 13.45757198] [-0.05307255 0.99845502 -0.01645822 -0.15493495] [ 0.02338644 0.01771969 0.99956945 -2.15319283] [ 0. 0. 0. 1. ]] SLAMing on 151.32719347 meters Centerline goodness : 0.890663 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.15 [[ 0.99828567 0.05286001 -0.02513043 13.46039702] [-0.05331652 0.99841801 -0.01785588 -0.15075853] [ 0.02414681 0.01916514 0.9995247 -2.15407407] [ 0. 0. 0. 1. ]] SLAMing on 151.35719347 meters Centerline goodness : 0.889760 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99821024 0.05440705 -0.02482314 13.46204697] [-0.05479574 0.99838103 -0.01525621 -0.14810909] [ 0.02395291 0.01658911 0.99957544 -2.15663358] [ 0. 0. 0. 1. ]] SLAMing on 151.38719347 meters Centerline goodness : 0.890977 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99824738 0.0534806 -0.02533776 13.46380025] [-0.0538892 0.99842307 -0.01572694 -0.14772003] [ 0.02445671 0.01706481 0.99955523 -2.15772561] [ 0. 0. 0. 1. ]] SLAMing on 151.41719347 meters Centerline goodness : 0.890977 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99824738 0.0534806 -0.02533776 13.46380025] [-0.0538892 0.99842307 -0.01572694 -0.14772003] [ 0.02445671 0.01706481 0.99955523 -2.15772561] [ 0. 0. 0. 1. ]] SLAMing on 151.44719347 meters Centerline goodness : 0.892548 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.15, Z:-2.16 [[ 0.99824458 0.05343961 -0.02553375 13.46472781] [-0.05383683 0.9984351 -0.01513068 -0.14902202] [ 0.02468522 0.01647878 0.99955945 -2.15871041] [ 0. 0. 0. 1. ]] SLAMing on 151.47719347 meters Centerline goodness : 0.888541 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99825383 0.05286089 -0.02636303 13.46784435] [-0.05325615 0.99847528 -0.01452259 -0.15217701] [ 0.02555516 0.01590122 0.99954694 -2.16139204] [ 0. 0. 0. 1. ]] SLAMing on 151.50719347 meters Centerline goodness : 0.891388 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99827529 0.05205612 -0.02714062 13.46987529] [-0.05247294 0.99851151 -0.01487794 -0.15313522] [ 0.02632573 0.01627643 0.9995209 -2.16227379] [ 0. 0. 0. 1. ]] SLAMing on 151.53719347 meters Centerline goodness : 0.890102 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99831356 0.05126055 -0.02724704 13.47052242] [-0.05168351 0.99855008 -0.01505196 -0.15345061] [ 0.02643597 0.0164348 0.9995154 -2.16296463] [ 0. 0. 0. 1. ]] SLAMing on 151.56719347 meters Centerline goodness : 0.890139 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99836608 0.05045829 -0.02681673 13.47013348] [-0.05087741 0.99858949 -0.01518309 -0.15272518] [ 0.02601279 0.01652265 0.99952506 -2.16355113] [ 0. 0. 0. 1. ]] SLAMing on 151.59719347 meters Centerline goodness : 0.887891 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99854727 0.04761739 -0.02521778 13.46734055] [-0.04804372 0.99870764 -0.01657844 -0.14995156] [ 0.02439576 0.01776591 0.99954451 -2.16343325] [ 0. 0. 0. 1. ]] SLAMing on 151.62719347 meters Centerline goodness : 0.886268 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99862634 0.04625332 -0.0246184 13.46581696] [-0.04667524 0.99876802 -0.01684853 -0.15020901] [ 0.02380877 0.01797445 0.99955493 -2.16292499] [ 0. 0. 0. 1. ]] SLAMing on 151.65719347 meters Centerline goodness : 0.887902 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.9988921 0.04007607 -0.02466752 13.46616062] [-0.04063629 0.99891736 -0.02264488 -0.14782327] [ 0.0237333 0.02362219 0.9994392 -2.16343645] [ 0. 0. 0. 1. ]] SLAMing on 151.68719347 meters Centerline goodness : 0.885592 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.9989449 0.03902557 -0.02420948 13.46558258] [-0.03958316 0.99895162 -0.02299655 -0.14732675] [ 0.02328664 0.02393057 0.99944237 -2.16383445] [ 0. 0. 0. 1. ]] SLAMing on 151.71719347 meters Centerline goodness : 0.887195 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.15, Z:-2.16 [[ 0.99901115 0.03738737 -0.02406063 13.46569453] [-0.03797236 0.99898246 -0.02433382 -0.14506047] [ 0.02312637 0.02522339 0.9994143 -2.16413361] [ 0. 0. 0. 1. ]] SLAMing on 151.74719346999998 meters Centerline goodness : 0.888788 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.14, Z:-2.17 [[ 0.99895631 0.03857026 -0.02446697 13.46825842] [-0.03912916 0.99897421 -0.02279119 -0.14376517] [ 0.02356281 0.02372478 0.99944081 -2.16560385] [ 0. 0. 0. 1. ]] SLAMing on 151.77719347 meters Centerline goodness : 0.886742 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.14, Z:-2.17 [[ 0.99891051 0.04033729 -0.02346678 13.46764912] [-0.04084923 0.99892832 -0.02176106 -0.13731329] [ 0.02256385 0.02269595 0.99948775 -2.16604462] [ 0. 0. 0. 1. ]] SLAMing on 151.80719347 meters Centerline goodness : 0.886147 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.13, Z:-2.17 [[ 0.99880919 0.04231903 -0.02427573 13.47089668] [-0.04281534 0.99887669 -0.02030276 -0.13481286] [ 0.02338927 0.02131795 0.99949912 -2.16768286] [ 0. 0. 0. 1. ]] SLAMing on 151.83719347 meters Centerline goodness : 0.886539 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.13, Z:-2.17 [[ 0.99865316 0.04541145 -0.02509317 13.47438935] [-0.04586583 0.99878832 -0.01783841 -0.13275471] [ 0.0242527 0.0189653 0.99952595 -2.16961529] [ 0. 0. 0. 1. ]] SLAMing on 151.86719347 meters Centerline goodness : 0.886751 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.13, Z:-2.17 [[ 0.99847472 0.04866391 -0.02607807 13.4779706 ] [-0.04908016 0.99867353 -0.01556644 -0.13033751] [ 0.02528596 0.01682261 0.9995387 -2.17097754] [ 0. 0. 0. 1. ]] SLAMing on 151.89719347 meters Centerline goodness : 0.885263 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:-2.17 [[ 0.99826607 0.05246451 -0.02668961 13.4798485 ] [-0.05287748 0.9984882 -0.01500955 -0.12321248] [ 0.0258618 0.0163948 0.99953108 -2.16991235] [ 0. 0. 0. 1. ]] SLAMing on 151.92719347 meters Centerline goodness : 0.887467 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:-2.17 [[ 0.99822381 0.05279013 -0.02761198 13.48185236] [-0.05326919 0.99843698 -0.01691144 -0.11853971] [ 0.02667606 0.01835227 0.99947565 -2.16926316] [ 0. 0. 0. 1. ]] SLAMing on 151.95719347 meters Centerline goodness : 0.886319 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.12, Z:-2.17 [[ 0.99803977 0.05589686 -0.02814537 13.48421614] [-0.05632234 0.9983065 -0.01455792 -0.11574153] [ 0.02728397 0.0161146 0.99949783 -2.17014007] [ 0. 0. 0. 1. ]] SLAMing on 151.98719347 meters Centerline goodness : 0.885910 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.99801406 0.05586575 -0.02910263 13.48707612] [-0.05634376 0.99828526 -0.01587182 -0.11243675] [ 0.02816604 0.01748005 0.99945041 -2.17101102] [ 0. 0. 0. 1. ]] SLAMing on 152.01719347 meters Centerline goodness : 0.886735 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.99806256 0.05467761 -0.02968991 13.48957401] [-0.05520954 0.99832314 -0.01740173 -0.1095098 ] [ 0.02868864 0.01900718 0.99940767 -2.17260639] [ 0. 0. 0. 1. ]] SLAMing on 152.04719347 meters Centerline goodness : 0.888269 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.99813952 0.05329831 -0.02961067 13.48984274] [-0.05385265 0.99838212 -0.01824948 -0.10869769] [ 0.0285901 0.01981015 0.9993949 -2.1731564 ] [ 0. 0. 0. 1. ]] SLAMing on 152.07719347 meters Centerline goodness : 0.887113 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.9982511 0.05149505 -0.02903437 13.48908928] [-0.0520569 0.99846452 -0.01893869 -0.10794084] [ 0.02801453 0.02041701 0.99939899 -2.17367 ] [ 0. 0. 0. 1. ]] SLAMing on 152.10719347 meters Centerline goodness : 0.885626 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.11, Z:-2.17 [[ 0.9989546 0.03974147 -0.02259015 13.48842726] [-0.0400568 0.99910373 -0.01368189 -0.10507313] [ 0.02202617 0.01457247 0.99965118 -2.1749765 ] [ 0. 0. 0. 1. ]] SLAMing on 152.13719347 meters Centerline goodness : 0.885135 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.10, Z:-2.18 [[ 0.99915516 0.03451502 -0.02230872 13.48838329] [-0.03494464 0.9992055 -0.01916362 -0.10107382] [ 0.02162956 0.019927 0.99956744 -2.17557101] [ 0. 0. 0. 1. ]] SLAMing on 152.16719347 meters Centerline goodness : 0.880774 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.10, Z:-2.18 [[ 0.99922938 0.03277325 -0.0215999 13.48729871] [-0.03321847 0.99923609 -0.02058571 -0.09801514] [ 0.02090874 0.02128736 0.99955474 -2.17574118] [ 0. 0. 0. 1. ]] SLAMing on 152.19719347 meters Centerline goodness : 0.880333 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.09, Z:-2.18 [[ 0.99930113 0.03065395 -0.02139106 13.48735193] [-0.0311434 0.99925174 -0.02293593 -0.09399541] [ 0.02067198 0.0235861 0.99950806 -2.17585164] [ 0. 0. 0. 1. ]] SLAMing on 152.22719347 meters Centerline goodness : 0.880478 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.09, Z:-2.18 [[ 0.99942648 0.02635081 -0.02126829 13.48900332] [-0.02694689 0.99923778 -0.02824402 -0.08552171] [ 0.02050783 0.02880093 0.99937477 -2.17739065] [ 0. 0. 0. 1. ]] SLAMing on 152.25719347 meters Centerline goodness : 0.878964 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.08, Z:-2.18 [[ 0.9994514 0.02514573 -0.02155423 13.49119469] [-0.02580476 0.99919046 -0.03086337 -0.07951668] [ 0.0207607 0.03140264 0.99929118 -2.17885922] [ 0. 0. 0. 1. ]] SLAMing on 152.28719347 meters Centerline goodness : 0.876263 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.07, Z:-2.18 [[ 0.99940099 0.02632498 -0.02246472 13.49526453] [-0.02699979 0.99917661 -0.03028398 -0.07298705] [ 0.02164899 0.03087239 0.99928886 -2.18118759] [ 0. 0. 0. 1. ]] SLAMing on 152.31719347 meters Centerline goodness : 0.872703 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.06, Z:-2.18 [[ 0.99923329 0.02849735 -0.02684637 13.50941016] [-0.02919094 0.99924064 -0.02580776 -0.05732409] [ 0.02609053 0.02657165 0.99930638 -2.18242682] [ 0. 0. 0. 1. ]] SLAMing on 152.34719347 meters Centerline goodness : 0.871224 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.05, Z:-2.18 [[ 0.99914051 0.03095426 -0.02756938 13.51232564] [-0.03165058 0.99918154 -0.02518896 -0.04990392] [ 0.02676711 0.02603989 0.99930248 -2.18319012] [ 0. 0. 0. 1. ]] SLAMing on 152.37719347 meters Centerline goodness : 0.870259 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.04, Z:-2.18 [[ 0.9990544 0.0331691 -0.02810903 13.5149368 ] [-0.03386155 0.99912553 -0.0245271 -0.04338375] [ 0.02727091 0.02545572 0.99930391 -2.18410327] [ 0. 0. 0. 1. ]] SLAMing on 152.40719347 meters Centerline goodness : 0.870822 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.04, Z:-2.19 [[ 0.99896845 0.03511883 -0.02878721 13.51792093] [-0.0358043 0.99907889 -0.02365207 -0.03801231] [ 0.02793006 0.02465838 0.9993057 -2.18535399] [ 0. 0. 0. 1. ]] SLAMing on 152.43719347 meters Centerline goodness : 0.868012 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.03, Z:-2.19 [[ 0.99888246 0.036587 -0.02992028 13.52189322] [-0.03734684 0.99898347 -0.02524365 -0.02600379] [ 0.02896628 0.02633286 0.99923347 -2.1859226 ] [ 0. 0. 0. 1. ]] SLAMing on 152.46719347 meters Centerline goodness : 0.871508 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.02, Z:-2.19 [[ 0.99876899 0.03945182 -0.03006746 13.52295619] [-0.04017167 0.99891108 -0.02372525 -0.02002022] [ 0.02909872 0.0249039 0.99926626 -2.18581539] [ 0. 0. 0. 1. ]] SLAMing on 152.49719346999998 meters Centerline goodness : 0.867829 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.01, Z:-2.18 [[ 9.98537164e-01 4.48351005e-02 -3.02215988e-02 1.35244081e+01] [-4.54650654e-02 9.98755769e-01 -2.04900563e-02 -5.71381623e-03] [ 2.92653224e-02 2.18341097e-02 9.99333184e-01 -2.18475236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52719347 meters Centerline goodness : 0.867412 Centerline is valid? [False, False] Translation: X:13.53, Y:0.00, Z:-2.18 [[ 9.98394815e-01 4.77805000e-02 -3.04108172e-02 1.35256513e+01] [-4.83697208e-02 9.98649844e-01 -1.89435738e-02 7.30248725e-04] [ 2.94646244e-02 2.03841286e-02 9.99357955e-01 -2.18465533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55719347 meters Centerline goodness : 0.866761 Centerline is valid? [False, False] Translation: X:13.53, Y:0.01, Z:-2.18 [[ 9.98101512e-01 5.35735871e-02 -3.03849063e-02 1.35261086e+01] [-5.40615413e-02 9.98417747e-01 -1.54710357e-02 1.17182534e-02] [ 2.95079908e-02 1.70843190e-02 9.99418533e-01 -2.18367915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58719347 meters Centerline goodness : 0.869101 Centerline is valid? [False, False] Translation: X:13.53, Y:0.02, Z:-2.18 [[ 9.97927283e-01 5.67463559e-02 -3.03478148e-02 1.35266850e+01] [-5.71689839e-02 9.98276667e-01 -1.32439746e-02 1.64061931e-02] [ 2.95439681e-02 1.49514773e-02 9.99451653e-01 -2.18363511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61719347 meters Centerline goodness : 0.868454 Centerline is valid? [False, False] Translation: X:13.53, Y:0.02, Z:-2.18 [[ 9.97767203e-01 5.92775195e-02 -3.07698468e-02 1.35288305e+01] [-5.96592537e-02 9.98150942e-01 -1.16391482e-02 2.17923989e-02] [ 3.00230117e-02 1.34488664e-02 9.99458727e-01 -2.18443303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64719347 meters Centerline goodness : 0.866657 Centerline is valid? [False, False] Translation: X:13.53, Y:0.03, Z:-2.19 [[ 9.97589835e-01 6.21680862e-02 -3.08163909e-02 1.35302888e+01] [-6.24941011e-02 9.97997898e-01 -9.73055752e-03 2.77157144e-02] [ 3.01497632e-02 1.16329479e-02 9.99477697e-01 -2.18518975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67719347 meters Centerline goodness : 0.868665 Centerline is valid? [False, False] Translation: X:13.53, Y:0.03, Z:-2.19 [[ 9.97420580e-01 6.46459099e-02 -3.11944497e-02 1.35326381e+01] [-6.49301307e-02 9.97856245e-01 -8.18491025e-03 3.40048418e-02] [ 3.05984555e-02 1.01892576e-02 9.99479821e-01 -2.18627652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70719347 meters Centerline goodness : 0.869488 Centerline is valid? [False, False] Translation: X:13.54, Y:0.04, Z:-2.19 [[ 9.97270750e-01 6.67423396e-02 -3.15675577e-02 1.35355299e+01] [-6.69892939e-02 9.97730317e-01 -6.83004398e-03 4.00129525e-02] [ 3.10400563e-02 8.92609148e-03 9.99478284e-01 -2.18804961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73719347 meters Centerline goodness : 0.868763 Centerline is valid? [False, False] Translation: X:13.54, Y:0.05, Z:-2.19 [[ 9.97190993e-01 6.75958920e-02 -3.22632861e-02 1.35388583e+01] [-6.78707012e-02 9.97665945e-01 -7.49868962e-03 4.91993260e-02] [ 3.16811012e-02 9.66735759e-03 9.99451274e-01 -2.18969306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76719347 meters Centerline goodness : 0.868224 Centerline is valid? [False, False] Translation: X:13.54, Y:0.05, Z:-2.19 [[ 9.97255096e-01 6.65102322e-02 -3.25371032e-02 1.35396276e+01] [-6.68444678e-02 9.97720124e-01 -9.29366835e-03 5.33615301e-02] [ 3.18447986e-02 1.14430835e-02 9.99427318e-01 -2.18976311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79719347 meters Centerline goodness : 0.874039 Centerline is valid? [False, False] Translation: X:13.54, Y:0.06, Z:-2.19 [[ 9.97320097e-01 6.52764108e-02 -3.30395803e-02 1.35409194e+01] [-6.56734635e-02 9.97779680e-01 -1.10772791e-02 5.75996322e-02] [ 3.22431368e-02 1.32174167e-02 9.99392656e-01 -2.18991223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82719347 meters Centerline goodness : 0.878507 Centerline is valid? [False, False] Translation: X:13.54, Y:0.07, Z:-2.19 [[ 0.99747616 0.06240284 -0.03387019 13.54270303] [-0.06292001 0.99791435 -0.01442318 0.06841634] [ 0.03289951 0.0165179 0.99932216 -2.18932371] [ 0. 0. 0. 1. ]] SLAMing on 152.85719347 meters Centerline goodness : 0.869236 Centerline is valid? [False, False] Translation: X:13.55, Y:0.07, Z:-2.19 [[ 0.99746332 0.06226409 -0.03449799 13.54524586] [-0.06279895 0.99791877 -0.01464275 0.07308375] [ 0.03351447 0.01677205 0.99929749 -2.19029006] [ 0. 0. 0. 1. ]] SLAMing on 152.88719347 meters Centerline goodness : 0.872034 Centerline is valid? [False, False] Translation: X:13.55, Y:0.08, Z:-2.19 [[ 0.99751942 0.0610982 -0.03495737 13.54660751] [-0.06170016 0.99795986 -0.01640751 0.0782615 ] [ 0.03388358 0.01852369 0.99925411 -2.19045526] [ 0. 0. 0. 1. ]] SLAMing on 152.91719347 meters Centerline goodness : 0.872539 Centerline is valid? [False, False] Translation: X:13.55, Y:0.08, Z:-2.19 [[ 0.9974516 0.06236762 -0.03464939 13.54586272] [-0.06292719 0.99790084 -0.01529953 0.08214058] [ 0.03362246 0.01744093 0.99928241 -2.1896915 ] [ 0. 0. 0. 1. ]] SLAMing on 152.94719347 meters Centerline goodness : 0.871060 Centerline is valid? [False, False] Translation: X:13.55, Y:0.09, Z:-2.19 [[ 0.99748093 0.06163629 -0.03511063 13.54701945] [-0.0622569 0.99791766 -0.01686463 0.08666921] [ 0.03399805 0.01900803 0.99924113 -2.1896184 ] [ 0. 0. 0. 1. ]] SLAMing on 152.97719347 meters Centerline goodness : 0.877098 Centerline is valid? [False, False] Translation: X:13.55, Y:0.10, Z:-2.19 [[ 0.99731289 0.06447417 -0.03478615 13.54716772] [-0.06506194 0.99775236 -0.01603674 0.09573682] [ 0.03367401 0.0182569 0.9992661 -2.18897784] [ 0. 0. 0. 1. ]] SLAMing on 153.00719347 meters Centerline goodness : 0.874156 Centerline is valid? [False, False] Translation: X:13.55, Y:0.10, Z:-2.19 [[ 0.99711352 0.06759153 -0.03458333 13.54715112] [-0.06811269 0.99757773 -0.01411873 0.10141128] [ 0.03354526 0.01643355 0.99930208 -2.18829979] [ 0. 0. 0. 1. ]] SLAMing on 153.03719347 meters Centerline goodness : 0.874705 Centerline is valid? [False, False] Translation: X:13.55, Y:0.11, Z:-2.19 [[ 9.96867635e-01 7.11857677e-02 -3.44602041e-02 1.35477604e+01] [-7.16282990e-02 9.97361821e-01 -1.17807233e-02 1.07544651e-01] [ 3.35306721e-02 1.42121476e-02 9.99336634e-01 -2.18805203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06719347 meters Centerline goodness : 0.876239 Centerline is valid? [False, False] Translation: X:13.55, Y:0.12, Z:-2.19 [[ 9.96433438e-01 7.72304221e-02 -3.39980222e-02 1.35483065e+01] [-7.75436858e-02 9.96956921e-01 -7.99215857e-03 1.18985331e-01] [ 3.32773258e-02 1.05999860e-02 9.99389944e-01 -2.18745517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09719347 meters Centerline goodness : 0.877091 Centerline is valid? [False, False] Translation: X:13.55, Y:0.12, Z:-2.19 [[ 9.96207607e-01 8.01148473e-02 -3.39413495e-02 1.35493037e+01] [-8.03485783e-02 9.96751224e-01 -5.57705665e-03 1.22597745e-01] [ 3.33842767e-02 8.28304544e-03 9.99408266e-01 -2.18792422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12719347 meters Centerline goodness : 0.874138 Centerline is valid? [False, False] Translation: X:13.55, Y:0.13, Z:-2.19 [[ 9.96129223e-01 8.08346180e-02 -3.45302250e-02 1.35529142e+01] [-8.10606289e-02 9.96695639e-01 -5.19400111e-03 1.25769280e-01] [ 3.39962696e-02 7.97293804e-03 9.99390157e-01 -2.19041533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15719347 meters Centerline goodness : 0.874174 Centerline is valid? [False, False] Translation: X:13.56, Y:0.13, Z:-2.19 [[ 9.96234235e-01 7.91637427e-02 -3.53617183e-02 1.35572175e+01] [-7.94766512e-02 9.96808284e-01 -7.53035442e-03 1.32012460e-01] [ 3.46527228e-02 1.03124278e-02 9.99346208e-01 -2.19348467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18719347 meters Centerline goodness : 0.876411 Centerline is valid? [False, False] Translation: X:13.56, Y:0.14, Z:-2.19 [[ 9.96295433e-01 7.82947592e-02 -3.55716218e-02 1.35582092e+01] [-7.86536599e-02 9.96863138e-01 -8.80260158e-03 1.35420800e-01] [ 3.47708409e-02 1.15678300e-02 9.99328361e-01 -2.19396093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21719347 meters Centerline goodness : 0.877847 Centerline is valid? [False, False] Translation: X:13.56, Y:0.14, Z:-2.19 [[ 9.96334763e-01 7.76009720e-02 -3.59879147e-02 1.35595898e+01] [-7.80044657e-02 9.96903409e-01 -9.94465193e-03 1.39078614e-01] [ 3.51047602e-02 1.27154205e-02 9.99302744e-01 -2.19441427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24719346999998 meters Centerline goodness : 0.876660 Centerline is valid? [False, False] Translation: X:13.56, Y:0.14, Z:-2.19 [[ 9.96368307e-01 7.69504814e-02 -3.64529938e-02 1.35610528e+01] [-7.74011983e-02 9.96938049e-01 -1.11167281e-02 1.42823856e-01] [ 3.54859390e-02 1.38978610e-02 9.99273535e-01 -2.19473903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27719347 meters Centerline goodness : 0.880246 Centerline is valid? [False, False] Translation: X:13.56, Y:0.15, Z:-2.20 [[ 9.96379953e-01 7.65911068e-02 -3.68889156e-02 1.35625464e+01] [-7.70788108e-02 9.96952987e-01 -1.19832526e-02 1.46141413e-01] [ 3.58587040e-02 1.47832264e-02 9.99247522e-01 -2.19522136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30719347 meters Centerline goodness : 0.876738 Centerline is valid? [False, False] Translation: X:13.56, Y:0.15, Z:-2.19 [[ 9.96238818e-01 7.84874936e-02 -3.67141818e-02 1.35626580e+01] [-7.89367615e-02 9.96819490e-01 -1.09495186e-02 1.52350494e-01] [ 3.57380117e-02 1.38064341e-02 9.99265819e-01 -2.19476101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33719347 meters Centerline goodness : 0.876738 Centerline is valid? [False, False] Translation: X:13.56, Y:0.15, Z:-2.19 [[ 9.96243914e-01 7.84238762e-02 -3.67118552e-02 1.35626559e+01] [-7.88758698e-02 9.96823449e-01 -1.10276778e-02 1.52579312e-01] [ 3.57304048e-02 1.38819364e-02 9.99265045e-01 -2.19475520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36719347 meters Centerline goodness : 0.879434 Centerline is valid? [False, False] Translation: X:13.56, Y:0.16, Z:-2.19 [[ 9.96266340e-01 7.80043530e-02 -3.69959431e-02 1.35635979e+01] [-7.84988521e-02 9.96840704e-01 -1.21053786e-02 1.56595386e-01] [ 3.59347898e-02 1.49643203e-02 9.99242093e-01 -2.19477021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39719347 meters Centerline goodness : 0.882954 Centerline is valid? [False, False] Translation: X:13.56, Y:0.17, Z:-2.19 [[ 9.96125498e-01 7.98309870e-02 -3.68918025e-02 1.35631020e+01] [-8.02997707e-02 9.96705537e-01 -1.14025945e-02 1.65232949e-01] [ 3.58599835e-02 1.43208184e-02 9.99254210e-01 -2.19314290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42719347 meters Centerline goodness : 0.881073 Centerline is valid? [False, False] Translation: X:13.56, Y:0.17, Z:-2.19 [[ 9.95961047e-01 8.21002606e-02 -3.63475027e-02 1.35618263e+01] [-8.24971300e-02 9.96545501e-01 -9.55451086e-03 1.68506789e-01] [ 3.54375124e-02 1.25144853e-02 9.99293536e-01 -2.19210766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45719347 meters Centerline goodness : 0.880762 Centerline is valid? [False, False] Translation: X:13.56, Y:0.17, Z:-2.19 [[ 9.95748735e-01 8.47714926e-02 -3.60312527e-02 1.35616036e+01] [-8.50829268e-02 9.96347880e-01 -7.19707998e-03 1.71117610e-01] [ 3.52895551e-02 1.02321277e-02 9.99324747e-01 -2.19182824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48719347 meters Centerline goodness : 0.879977 Centerline is valid? [False, False] Translation: X:13.56, Y:0.18, Z:-2.19 [[ 9.95768449e-01 8.44320322e-02 -3.62826120e-02 1.35624867e+01] [-8.47882829e-02 9.96363648e-01 -8.39215464e-03 1.75341119e-01] [ 3.54421090e-02 1.14329832e-02 9.99306331e-01 -2.19182400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51719347 meters Centerline goodness : 0.881242 Centerline is valid? [False, False] Translation: X:13.56, Y:0.18, Z:-2.19 [[ 9.95583721e-01 8.66339201e-02 -3.61610164e-02 1.35633747e+01] [-8.69522223e-02 9.96185578e-01 -7.32156567e-03 1.81401782e-01] [ 3.53887871e-02 1.04335123e-02 9.99319156e-01 -2.19215053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54719347 meters Centerline goodness : 0.881600 Centerline is valid? [False, False] Translation: X:13.56, Y:0.18, Z:-2.19 [[ 9.95310064e-01 8.98431997e-02 -3.58619056e-02 1.35637213e+01] [-9.00613491e-02 9.95926001e-01 -4.51143147e-03 1.83824486e-01] [ 3.53104828e-02 7.72004475e-03 9.99346572e-01 -2.19240483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57719347 meters Centerline goodness : 0.881794 Centerline is valid? [False, False] Translation: X:13.56, Y:0.19, Z:-2.19 [[ 9.95012377e-01 9.31673680e-02 -3.56400285e-02 1.35639709e+01] [-9.32875021e-02 9.95637728e-01 -1.71920578e-03 1.86899099e-01] [ 3.53243831e-02 5.03540026e-03 9.99363214e-01 -2.19217129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60719347 meters Centerline goodness : 0.885371 Centerline is valid? [False, False] Translation: X:13.56, Y:0.19, Z:-2.19 [[ 9.94718427e-01 9.63048177e-02 -3.55053999e-02 1.35641348e+01] [-9.63349992e-02 9.95348593e-01 8.63698497e-04 1.90366343e-01] [ 3.54234282e-02 2.56127586e-03 9.99369111e-01 -2.19159127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63719347 meters Centerline goodness : 0.885421 Centerline is valid? [False, False] Translation: X:13.56, Y:0.19, Z:-2.19 [[ 9.94044913e-01 1.03361361e-01 -3.45128852e-02 1.35643186e+01] [-1.03170814e-01 9.94637144e-01 7.26182383e-03 1.93816848e-01] [ 3.50783896e-02 -3.65785658e-03 9.99377870e-01 -2.19226804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66719347 meters Centerline goodness : 0.887184 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.19 [[ 9.94026320e-01 1.03366907e-01 -3.50279528e-02 1.35659622e+01] [-1.03196858e-01 9.94638834e-01 6.63316562e-03 1.96201882e-01] [ 3.55258120e-02 -2.97876652e-03 9.99364320e-01 -2.19277501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69719347 meters Centerline goodness : 0.886413 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.19 [[ 9.94011399e-01 1.03338017e-01 -3.55329745e-02 1.35678997e+01] [-1.03189681e-01 9.94643669e-01 5.98838134e-03 1.98876505e-01] [ 3.59614756e-02 -2.28588300e-03 9.99350563e-01 -2.19366616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72719347 meters Centerline goodness : 0.888575 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.20 [[ 9.93687930e-01 1.06377717e-01 -3.56100914e-02 1.35699797e+01] [-1.06134450e-01 9.94314087e-01 8.65879433e-03 2.00792139e-01] [ 3.63287183e-02 -4.82468195e-03 9.99328248e-01 -2.19506803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75719347 meters Centerline goodness : 0.890784 Centerline is valid? [False, False] Translation: X:13.57, Y:0.20, Z:-2.20 [[ 9.93217741e-01 1.10712431e-01 -3.55144662e-02 1.35712984e+01] [-1.10336665e-01 9.93817194e-01 1.23776199e-02 2.02532915e-01] [ 3.66652436e-02 -8.37512388e-03 9.99292508e-01 -2.19568390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78719347 meters Centerline goodness : 0.894082 Centerline is valid? [False, False] Translation: X:13.57, Y:0.21, Z:-2.20 [[ 0.9922298 0.11939209 -0.03500798 13.57296913] [-0.11876642 0.99273179 0.01944541 0.20711041] [ 0.03707516 -0.01513654 0.99919784 -2.19610621] [ 0. 0. 0. 1. ]] SLAMing on 153.81719347 meters Centerline goodness : 0.892924 Centerline is valid? [False, False] Translation: X:13.57, Y:0.21, Z:-2.20 [[ 0.99173521 0.12345676 -0.03492429 13.57385226] [-0.12270944 0.99218078 0.0227966 0.20948079] [ 0.03746561 -0.01832265 0.99912993 -2.19588363] [ 0. 0. 0. 1. ]] SLAMing on 153.84719347 meters Centerline goodness : 0.892781 Centerline is valid? [False, False] Translation: X:13.57, Y:0.21, Z:-2.20 [[ 0.99165066 0.1240352 -0.03527362 13.57495573] [-0.12330206 0.99211951 0.02225951 0.21293714] [ 0.0377566 -0.01772435 0.99912976 -2.19565285] [ 0. 0. 0. 1. ]] SLAMing on 153.87719347 meters Centerline goodness : 0.892425 Centerline is valid? [False, False] Translation: X:13.58, Y:0.21, Z:-2.20 [[ 0.99159427 0.12432843 -0.03582246 13.57656298] [-0.12359981 0.99209064 0.02189169 0.21472176] [ 0.03826089 -0.01728003 0.99911836 -2.19604279] [ 0. 0. 0. 1. ]] SLAMing on 153.90719347 meters Centerline goodness : 0.892183 Centerline is valid? [False, False] Translation: X:13.58, Y:0.22, Z:-2.20 [[ 0.99158648 0.12429917 -0.03613825 13.57839736] [-0.12357453 0.99209917 0.02164646 0.2154823 ] [ 0.03854336 -0.01699857 0.99911233 -2.19752794] [ 0. 0. 0. 1. ]] SLAMing on 153.93719347 meters Centerline goodness : 0.896652 Centerline is valid? [False, False] Translation: X:13.59, Y:0.21, Z:-2.20 [[ 0.9923543 0.11963793 -0.03032674 13.59134642] [-0.11889007 0.99258315 0.02537419 0.21269217] [ 0.03313753 -0.02157463 0.99921791 -2.20162865] [ 0. 0. 0. 1. ]] SLAMing on 153.96719347 meters Centerline goodness : 0.891694 Centerline is valid? [False, False] Translation: X:13.60, Y:0.21, Z:-2.21 [[ 0.99310464 0.11464334 -0.02449648 13.60453716] [-0.1139517 0.99309217 0.02798139 0.2095395 ] [ 0.02753514 -0.02499703 0.99930824 -2.20504143] [ 0. 0. 0. 1. ]] SLAMing on 153.99719346999998 meters Centerline goodness : 0.896404 Centerline is valid? [False, False] Translation: X:13.62, Y:0.21, Z:-2.21 [[ 0.99363785 0.11069512 -0.02074644 13.6212942 ] [-0.11007857 0.99350496 0.02882023 0.20621389] [ 0.02380195 -0.02635313 0.99936929 -2.20600262] [ 0. 0. 0. 1. ]] SLAMing on 154.02719347 meters Centerline goodness : 0.899256 Centerline is valid? [False, False] Translation: X:13.65, Y:0.20, Z:-2.20 [[ 0.99445949 0.10277542 -0.02208007 13.64733722] [-0.10198103 0.9941875 0.03451215 0.20305204] [ 0.02549873 -0.03206919 0.99916034 -2.20419792] [ 0. 0. 0. 1. ]] SLAMing on 154.05719347 meters Centerline goodness : 0.900013 Centerline is valid? [False, False] Translation: X:13.65, Y:0.20, Z:-2.21 [[ 0.99468538 0.10033026 -0.02312637 13.65004724] [-0.09957176 0.99451886 0.03190131 0.20407811] [ 0.02620028 -0.02942903 0.99922344 -2.20541464] [ 0. 0. 0. 1. ]] SLAMing on 154.08719347 meters Centerline goodness : 0.897642 Centerline is valid? [False, False] Translation: X:13.67, Y:0.20, Z:-2.21 [[ 0.99533587 0.09363768 -0.02320527 13.67319835] [-0.09254657 0.99472144 0.04432138 0.19885644] [ 0.02723293 -0.04196709 0.99874778 -2.20794653] [ 0. 0. 0. 1. ]] SLAMing on 154.11719347 meters Centerline goodness : 0.898242 Centerline is valid? [False, False] Translation: X:13.69, Y:0.20, Z:-2.21 [[ 0.99579579 0.08914591 -0.02106539 13.69158499] [-0.08818244 0.99517866 0.04293354 0.19718346] [ 0.02479118 -0.04089544 0.99885583 -2.20779611] [ 0. 0. 0. 1. ]] SLAMing on 154.14719347 meters Centerline goodness : 0.897372 Centerline is valid? [False, False] Translation: X:13.70, Y:0.19, Z:-2.21 [[ 0.99619867 0.08552646 -0.01653595 13.70263645] [-0.08460986 0.99516516 0.04987459 0.19404283] [ 0.02072159 -0.0482859 0.99861859 -2.21121222] [ 0. 0. 0. 1. ]] SLAMing on 154.17719347 meters Centerline goodness : 0.900567 Centerline is valid? [False, False] Translation: X:13.71, Y:0.19, Z:-2.21 [[ 0.99641779 0.082735 -0.01750747 13.7053543 ] [-0.08184072 0.99554688 0.04678138 0.19434371] [ 0.02129996 -0.04518098 0.99875172 -2.21260381] [ 0. 0. 0. 1. ]] SLAMing on 154.20719347 meters Centerline goodness : 0.899047 Centerline is valid? [False, False] Translation: X:13.71, Y:0.19, Z:-2.21 [[ 0.99635463 0.08333438 -0.01824347 13.70794228] [-0.08239675 0.99548053 0.04721529 0.1947285 ] [ 0.02209567 -0.04553997 0.99871812 -2.21386604] [ 0. 0. 0. 1. ]] SLAMing on 154.23719347 meters Centerline goodness : 0.900222 Centerline is valid? [False, False] Translation: X:13.71, Y:0.20, Z:-2.21 [[ 0.99631908 0.08362179 -0.01885978 13.70991457] [-0.08265929 0.99546592 0.0470642 0.19596521] [ 0.02270986 -0.04533202 0.99871381 -2.21470482] [ 0. 0. 0. 1. ]] SLAMing on 154.26719347 meters Centerline goodness : 0.902002 Centerline is valid? [False, False] Translation: X:13.71, Y:0.20, Z:-2.22 [[ 0.99628786 0.08385491 -0.01946417 13.71153497] [-0.08286595 0.99545104 0.04701554 0.19602141] [ 0.02331811 -0.0452281 0.9987045 -2.21531407] [ 0. 0. 0. 1. ]] SLAMing on 154.29719347 meters Centerline goodness : 0.897835 Centerline is valid? [False, False] Translation: X:13.71, Y:0.20, Z:-2.22 [[ 0.99620423 0.08472037 -0.01998962 13.71381508] [-0.08369572 0.99535938 0.047484 0.19531694] [ 0.02391972 -0.04563072 0.99867196 -2.21693379] [ 0. 0. 0. 1. ]] SLAMing on 154.32719347 meters Centerline goodness : 0.897480 Centerline is valid? [False, False] Translation: X:13.72, Y:0.20, Z:-2.22 [[ 0.99616993 0.08506757 -0.02022329 13.71516409] [-0.08403133 0.99532987 0.04750982 0.19538987] [ 0.02417039 -0.04562847 0.99866603 -2.21808789] [ 0. 0. 0. 1. ]] SLAMing on 154.35719347 meters Centerline goodness : 0.900152 Centerline is valid? [False, False] Translation: X:13.72, Y:0.20, Z:-2.22 [[ 0.99608531 0.08587137 -0.02097992 13.71793978] [-0.08478228 0.99523223 0.04821587 0.1956584 ] [ 0.02502026 -0.04624839 0.99861658 -2.21951056] [ 0. 0. 0. 1. ]] SLAMing on 154.38719347 meters Centerline goodness : 0.896874 Centerline is valid? [False, False] Translation: X:13.72, Y:0.20, Z:-2.22 [[ 0.99605674 0.08601431 -0.0217373 13.72017903] [-0.08488908 0.99522123 0.04825501 0.19589741] [ 0.02578404 -0.04621947 0.99859849 -2.22053444] [ 0. 0. 0. 1. ]] SLAMing on 154.41719347 meters Centerline goodness : 0.895722 Centerline is valid? [False, False] Translation: X:13.74, Y:0.19, Z:-2.22 [[ 0.9963181 0.08310328 -0.02107333 13.74092095] [-0.08201911 0.99547702 0.04794135 0.19417321] [ 0.0249621 -0.04603642 0.99862783 -2.22116005] [ 0. 0. 0. 1. ]] SLAMing on 154.44719347 meters Centerline goodness : 0.897759 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.99659335 0.07956638 -0.02170005 13.74167812] [-0.07857529 0.99597033 0.04323223 0.19680584] [ 0.02505244 -0.04137987 0.99882936 -2.22093217] [ 0. 0. 0. 1. ]] SLAMing on 154.47719347 meters Centerline goodness : 0.896457 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.99658301 0.07961049 -0.02201095 13.74222275] [-0.07860464 0.99596482 0.04330569 0.19705071] [ 0.02536972 -0.04142756 0.99881937 -2.22069241] [ 0. 0. 0. 1. ]] SLAMing on 154.50719347 meters Centerline goodness : 0.896791 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.9966037 0.07932629 -0.02209995 13.74203672] [-0.07833075 0.99600986 0.04276269 0.19833136] [ 0.02540398 -0.04088635 0.9988408 -2.21992971] [ 0. 0. 0. 1. ]] SLAMing on 154.53719347 meters Centerline goodness : 0.899287 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.99661111 0.07926065 -0.02200085 13.74149949] [-0.07828138 0.99603429 0.04228149 0.19928315] [ 0.02526486 -0.04041594 0.99886347 -2.21913894] [ 0. 0. 0. 1. ]] SLAMing on 154.56719347 meters Centerline goodness : 0.897815 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.22 [[ 0.9967628 0.0775025 -0.02138405 13.73743967] [-0.07660804 0.99626331 0.03988268 0.20162979] [ 0.02439515 -0.03811538 0.99897552 -2.21523059] [ 0. 0. 0. 1. ]] SLAMing on 154.59719347 meters Centerline goodness : 0.903330 Centerline is valid? [False, False] Translation: X:13.74, Y:0.20, Z:-2.21 [[ 0.99684574 0.07652136 -0.02104874 13.73585497] [-0.07566961 0.99638333 0.03865697 0.20348343] [ 0.0239307 -0.03694228 0.99903083 -2.21375795] [ 0. 0. 0. 1. ]] SLAMing on 154.62719347 meters Centerline goodness : 0.901015 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99692906 0.07562231 -0.02034005 13.73385492] [-0.07481939 0.99648423 0.03769943 0.20512247] [ 0.02311946 -0.03606183 0.9990821 -2.2127315 ] [ 0. 0. 0. 1. ]] SLAMing on 154.65719347 meters Centerline goodness : 0.902165 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99705413 0.07396138 -0.02031697 13.73261562] [-0.07319445 0.99666037 0.03620332 0.20577823] [ 0.02292677 -0.03460958 0.9991379 -2.21154789] [ 0. 0. 0. 1. ]] SLAMing on 154.68719347 meters Centerline goodness : 0.897985 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99722825 0.07160539 -0.02021108 13.73118898] [-0.07089226 0.99690317 0.03403451 0.20665579] [ 0.02258555 -0.03250737 0.99921627 -2.21040569] [ 0. 0. 0. 1. ]] SLAMing on 154.71719347 meters Centerline goodness : 0.900299 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99764513 0.06556178 -0.02014559 13.72963745] [-0.06498435 0.99749076 0.02809306 0.20903116] [ 0.02193687 -0.02671776 0.99940229 -2.2093342 ] [ 0. 0. 0. 1. ]] SLAMing on 154.74719346999998 meters Centerline goodness : 0.900175 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.9979326 0.0608566 -0.02066388 13.72985249] [-0.06037802 0.99790954 0.0230442 0.21149898] [ 0.02202308 -0.02174892 0.99952087 -2.20870793] [ 0. 0. 0. 1. ]] SLAMing on 154.77719347 meters Centerline goodness : 0.901656 Centerline is valid? [False, False] Translation: X:13.73, Y:0.21, Z:-2.21 [[ 0.99818778 0.05630024 -0.02124697 13.73042718] [-0.05592071 0.99827198 0.01805366 0.21405217] [ 0.02222668 -0.0168328 0.99961124 -2.20834658] [ 0. 0. 0. 1. ]] SLAMing on 154.80719347 meters Centerline goodness : 0.900868 Centerline is valid? [False, False] Translation: X:13.73, Y:0.22, Z:-2.21 [[ 9.98423479e-01 5.17448743e-02 -2.17491414e-02 1.37316977e+01] [-5.14813634e-02 9.98595643e-01 1.25064306e-02 2.19063606e-01] [ 2.23657416e-02 -1.13670385e-02 9.99685232e-01 -2.20879790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83719347 meters Centerline goodness : 0.902951 Centerline is valid? [False, False] Translation: X:13.73, Y:0.22, Z:-2.21 [[ 9.98450430e-01 5.10891656e-02 -2.20598370e-02 1.37327303e+01] [-5.08474561e-02 9.98641563e-01 1.13826668e-02 2.22288033e-01] [ 2.26114011e-02 -1.02433419e-02 9.99691852e-01 -2.20919085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86719347 meters Centerline goodness : 0.903621 Centerline is valid? [False, False] Translation: X:13.73, Y:0.23, Z:-2.21 [[ 9.98475214e-01 5.04442460e-02 -2.24193171e-02 1.37340142e+01] [-5.02274448e-02 9.98686423e-01 1.01307672e-02 2.26073720e-01] [ 2.29009065e-02 -8.98925494e-03 9.99697325e-01 -2.20975924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89719347 meters Centerline goodness : 0.902602 Centerline is valid? [False, False] Translation: X:13.74, Y:0.23, Z:-2.21 [[ 9.98486877e-01 5.00213906e-02 -2.28433163e-02 1.37355573e+01] [-4.98253354e-02 9.98716735e-01 9.07295481e-03 2.29566822e-01] [ 2.32678441e-02 -7.92105042e-03 9.99697887e-01 -2.21051982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92719347 meters Centerline goodness : 0.901756 Centerline is valid? [False, False] Translation: X:13.74, Y:0.24, Z:-2.21 [[ 9.98470686e-01 5.00819073e-02 -2.34113735e-02 1.37390532e+01] [-4.99131878e-02 9.98723594e-01 7.73673561e-03 2.37593652e-01] [ 2.37689616e-02 -6.55636743e-03 9.99695979e-01 -2.21295283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95719347 meters Centerline goodness : 0.900656 Centerline is valid? [False, False] Translation: X:13.74, Y:0.24, Z:-2.21 [[ 9.98501094e-01 4.93792333e-02 -2.36063001e-02 1.37396090e+01] [-4.92504199e-02 9.98768393e-01 6.00769372e-03 2.42546979e-01] [ 2.38738817e-02 -4.83606856e-03 9.99703281e-01 -2.21284127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98719347 meters Centerline goodness : 0.901469 Centerline is valid? [False, False] Translation: X:13.74, Y:0.25, Z:-2.21 [[ 9.98511539e-01 4.89772466e-02 -2.39986541e-02 1.37411349e+01] [-4.88748976e-02 9.98793214e-01 4.83328511e-03 2.46748469e-01] [ 2.42064139e-02 -3.65315920e-03 9.99700307e-01 -2.21347172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01719347 meters Centerline goodness : 0.900793 Centerline is valid? [False, False] Translation: X:13.74, Y:0.25, Z:-2.21 [[ 9.98380756e-01 5.16756172e-02 -2.37801807e-02 1.37409172e+01] [-5.15195643e-02 9.98646538e-01 7.12924345e-03 2.49813423e-01] [ 2.41164032e-02 -5.89255491e-03 9.99691791e-01 -2.21328211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04719347 meters Centerline goodness : 0.901315 Centerline is valid? [False, False] Translation: X:13.74, Y:0.26, Z:-2.21 [[ 9.98299548e-01 5.32524874e-02 -2.37104419e-02 1.37417336e+01] [-5.30991726e-02 9.98564358e-01 7.04988510e-03 2.60086926e-01] [ 2.40518261e-02 -5.77889227e-03 9.99694010e-01 -2.21343637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07719347 meters Centerline goodness : 0.902025 Centerline is valid? [False, False] Translation: X:13.74, Y:0.27, Z:-2.21 [[ 9.98334761e-01 5.24318734e-02 -2.40541655e-02 1.37424975e+01] [-5.23203290e-02 9.98616586e-01 5.24379917e-03 2.65264607e-01] [ 2.42958308e-02 -3.97654514e-03 9.99696904e-01 -2.21322098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10719347 meters Centerline goodness : 0.901118 Centerline is valid? [False, False] Translation: X:13.74, Y:0.27, Z:-2.21 [[ 9.98208142e-01 5.48645631e-02 -2.38827267e-02 1.37425085e+01] [-5.47012636e-02 9.98475058e-01 7.43847821e-03 2.67915951e-01] [ 2.42544158e-02 -6.11873419e-03 9.99687093e-01 -2.21334358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13719347 meters Centerline goodness : 0.903878 Centerline is valid? [False, False] Translation: X:13.74, Y:0.28, Z:-2.21 [[ 9.98131290e-01 5.64321957e-02 -2.34378915e-02 1.37411491e+01] [-5.62674731e-02 9.98386579e-01 7.62958022e-03 2.76388411e-01] [ 2.38306303e-02 -6.29653182e-03 9.99696181e-01 -2.21174947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16719347 meters Centerline goodness : 0.906370 Centerline is valid? [False, False] Translation: X:13.74, Y:0.28, Z:-2.21 [[ 9.97995190e-01 5.89123127e-02 -2.31287574e-02 1.37402894e+01] [-5.87068490e-02 9.98230396e-01 9.46476577e-03 2.81053292e-01] [ 2.36454199e-02 -8.08797425e-03 9.99687691e-01 -2.21074613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19719347 meters Centerline goodness : 0.907111 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 9.97823855e-01 6.18157787e-02 -2.29426220e-02 1.37403414e+01] [-6.15585357e-02 9.98034252e-01 1.17549371e-02 2.85171631e-01] [ 2.36241631e-02 -1.03170425e-02 9.99667674e-01 -2.21057914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22719347 meters Centerline goodness : 0.907111 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 9.97824108e-01 6.18399528e-02 -2.28663468e-02 1.37402723e+01] [-6.15944328e-02 9.98037398e-01 1.12906356e-02 2.86132209e-01] [ 2.35196816e-02 -9.85762871e-03 9.99674773e-01 -2.21064292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25719347 meters Centerline goodness : 0.903505 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 9.97631899e-01 6.49168018e-02 -2.27245123e-02 1.37406594e+01] [-6.46155891e-02 9.97815521e-01 1.37481289e-02 2.89447281e-01] [ 2.35673557e-02 -1.22472142e-02 9.99647231e-01 -2.21093011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28719347 meters Centerline goodness : 0.907335 Centerline is valid? [False, False] Translation: X:13.74, Y:0.29, Z:-2.21 [[ 0.99740798 0.06830667 -0.0226166 13.74125311] [-0.06795657 0.99756152 0.0159034 0.29456916] [ 0.02364776 -0.01432523 0.99961771 -2.2109858 ] [ 0. 0. 0. 1. ]] SLAMing on 155.31719347 meters Centerline goodness : 0.908840 Centerline is valid? [False, False] Translation: X:13.74, Y:0.30, Z:-2.21 [[ 0.99716636 0.0718198 -0.02238695 13.74133938] [-0.07140154 0.99726753 0.01895499 0.29697538] [ 0.02368713 -0.01730282 0.99956967 -2.21082116] [ 0. 0. 0. 1. ]] SLAMing on 155.34719347 meters Centerline goodness : 0.912256 Centerline is valid? [False, False] Translation: X:13.74, Y:0.30, Z:-2.21 [[ 0.99689533 0.0755213 -0.0222762 13.74173467] [-0.07503293 0.99693831 0.02200144 0.29985105] [ 0.02386957 -0.02026169 0.99950973 -2.2107273 ] [ 0. 0. 0. 1. ]] SLAMing on 155.37719347 meters Centerline goodness : 0.911555 Centerline is valid? [False, False] Translation: X:13.74, Y:0.30, Z:-2.21 [[ 0.99682947 0.07619371 -0.02292428 13.74389662] [-0.07570887 0.99690194 0.02132336 0.30453512] [ 0.02447797 -0.01952018 0.99950978 -2.21101202] [ 0. 0. 0. 1. ]] SLAMing on 155.40719347 meters Centerline goodness : 0.907724 Centerline is valid? [False, False] Translation: X:13.75, Y:0.31, Z:-2.21 [[ 0.99650551 0.08027014 -0.02309703 13.74537811] [-0.0796984 0.99651311 0.02469393 0.30706173] [ 0.02499868 -0.02276684 0.99942821 -2.21148013] [ 0. 0. 0. 1. ]] SLAMing on 155.43719347 meters Centerline goodness : 0.906728 Centerline is valid? [False, False] Translation: X:13.75, Y:0.31, Z:-2.21 [[ 0.99569716 0.08952733 -0.02391687 13.74963533] [-0.08875934 0.99555658 0.03144634 0.31345044] [ 0.02662591 -0.02918818 0.99921925 -2.21216838] [ 0. 0. 0. 1. ]] SLAMing on 155.46719347 meters Centerline goodness : 0.907196 Centerline is valid? [False, False] Translation: X:13.75, Y:0.32, Z:-2.21 [[ 0.9953071 0.09375922 -0.02393716 13.75075483] [-0.09289874 0.99506602 0.03483443 0.31588604] [ 0.0270851 -0.03244722 0.99910639 -2.21239661] [ 0. 0. 0. 1. ]] SLAMing on 155.49719346999998 meters Centerline goodness : 0.908413 Centerline is valid? [False, False] Translation: X:13.75, Y:0.32, Z:-2.21 [[ 0.99517514 0.09503145 -0.0244021 13.75280962] [-0.09415472 0.99494686 0.03486592 0.3185158 ] [ 0.02759215 -0.03240013 0.99909404 -2.21298119] [ 0. 0. 0. 1. ]] SLAMing on 155.52719347 meters Centerline goodness : 0.907084 Centerline is valid? [False, False] Translation: X:13.75, Y:0.32, Z:-2.21 [[ 0.99507258 0.09597302 -0.02489454 13.75449169] [-0.09508417 0.99486348 0.0347226 0.32065167] [ 0.0280991 -0.03218443 0.99908688 -2.2132705 ] [ 0. 0. 0. 1. ]] SLAMing on 155.55719347 meters Centerline goodness : 0.908376 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.9947655 0.09899343 -0.02533559 13.756724 ] [-0.09820094 0.9946893 0.03081825 0.32725388] [ 0.02825184 -0.02816896 0.99920385 -2.20732318] [ 0. 0. 0. 1. ]] SLAMing on 155.58719347 meters Centerline goodness : 0.909548 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.9946795 0.09976927 -0.02566694 13.75755758] [-0.0989717 0.99461756 0.03066777 0.329942 ] [ 0.02858849 -0.0279643 0.99920003 -2.20672413] [ 0. 0. 0. 1. ]] SLAMing on 155.61719347 meters Centerline goodness : 0.907993 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.99462288 0.10025373 -0.02597134 13.75800781] [-0.09945165 0.99457398 0.03052817 0.33130165] [ 0.02889099 -0.02778112 0.99919644 -2.20604434] [ 0. 0. 0. 1. ]] SLAMing on 155.64719347 meters Centerline goodness : 0.902014 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.99486562 0.09768691 -0.02645133 13.75830699] [-0.09695144 0.99490099 0.02779266 0.328423 ] [ 0.02903143 -0.02508546 0.99926368 -2.20569721] [ 0. 0. 0. 1. ]] SLAMing on 155.67719347 meters Centerline goodness : 0.901018 Centerline is valid? [False, False] Translation: X:13.76, Y:0.33, Z:-2.21 [[ 0.99515807 0.09448039 -0.02709001 13.75915767] [-0.09381752 0.99528099 0.02477942 0.32580788] [ 0.02930334 -0.02211793 0.99932583 -2.20592269] [ 0. 0. 0. 1. ]] SLAMing on 155.70719347 meters Centerline goodness : 0.903888 Centerline is valid? [False, False] Translation: X:13.77, Y:0.32, Z:-2.21 [[ 0.99566149 0.09018762 -0.0228996 13.77448469] [-0.0895299 0.9955824 0.02828557 0.31991049] [ 0.02534945 -0.02611265 0.99933755 -2.20851281] [ 0. 0. 0. 1. ]] SLAMing on 155.73719347 meters Centerline goodness : 0.901296 Centerline is valid? [False, False] Translation: X:13.79, Y:0.31, Z:-2.21 [[ 0.99620541 0.08506181 -0.01841931 13.78867896] [-0.0844517 0.99592336 0.03169502 0.31187951] [ 0.02104025 -0.0300192 0.99932785 -2.21042131] [ 0. 0. 0. 1. ]] SLAMing on 155.76719347 meters Centerline goodness : 0.903171 Centerline is valid? [False, False] Translation: X:13.80, Y:0.31, Z:-2.21 [[ 0.99659848 0.08119633 -0.01409341 13.80410872] [-0.08067551 0.99615163 0.03425481 0.3071322 ] [ 0.01682054 -0.03300129 0.99931376 -2.2112018 ] [ 0. 0. 0. 1. ]] SLAMing on 155.79719347 meters Centerline goodness : 0.900053 Centerline is valid? [False, False] Translation: X:13.82, Y:0.30, Z:-2.21 [[ 9.96971410e-01 7.70818160e-02 -1.03150588e-02 1.38201777e+01] [-7.66621462e-02 9.96397180e-01 3.62708618e-02 3.01813793e-01] [ 1.30737194e-02 -3.53702377e-02 9.99288759e-01 -2.21210681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82719347 meters Centerline goodness : 0.899077 Centerline is valid? [False, False] Translation: X:13.82, Y:0.29, Z:-2.21 [[ 9.97271247e-01 7.27533816e-02 -1.25302023e-02 1.38243815e+01] [-7.23206948e-02 9.96865363e-01 3.20806180e-02 2.93468949e-01] [ 1.48248981e-02 -3.10868850e-02 9.99406738e-01 -2.21252431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85719347 meters Centerline goodness : 0.896101 Centerline is valid? [False, False] Translation: X:13.83, Y:0.29, Z:-2.21 [[ 9.97474878e-01 6.97733070e-02 -1.32496394e-02 1.38258833e+01] [-6.93597935e-02 9.97156758e-01 2.94553704e-02 2.90300057e-01] [ 1.52671661e-02 -2.84619997e-02 9.99478278e-01 -2.21319901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88719347 meters Centerline goodness : 0.896534 Centerline is valid? [False, False] Translation: X:13.84, Y:0.28, Z:-2.22 [[ 9.97712257e-01 6.67698515e-02 -1.05848866e-02 1.38439710e+01] [-6.63825243e-02 9.97232346e-01 3.34814620e-02 2.83951395e-01] [ 1.27911436e-02 -3.27022135e-02 9.99383286e-01 -2.21624763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91719347 meters Centerline goodness : 0.893875 Centerline is valid? [False, False] Translation: X:13.84, Y:0.28, Z:-2.22 [[ 9.97892218e-01 6.39399273e-02 -1.10818354e-02 1.38448460e+01] [-6.35755243e-02 9.97507907e-01 3.05962001e-02 2.81945031e-01] [ 1.30105372e-02 -2.98271765e-02 9.99470392e-01 -2.21650162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94719347 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:13.85, Y:0.28, Z:-2.22 [[ 9.97982255e-01 6.23191639e-02 -1.21548385e-02 1.38477893e+01] [-6.19483836e-02 9.97663494e-01 2.88088720e-02 2.79448514e-01] [ 1.39217834e-02 -2.79977705e-02 9.99511035e-01 -2.21771919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97719347 meters Centerline goodness : 0.889298 Centerline is valid? [False, False] Translation: X:13.85, Y:0.27, Z:-2.22 [[ 9.98027208e-01 6.14625052e-02 -1.28082759e-02 1.38496648e+01] [-6.10843628e-02 9.97737670e-01 2.80756526e-02 2.74224255e-01] [ 1.45048993e-02 -2.72378798e-02 9.99523739e-01 -2.21848777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00719347 meters Centerline goodness : 0.891396 Centerline is valid? [False, False] Translation: X:13.85, Y:0.27, Z:-2.22 [[ 0.99811888 0.05971083 -0.01390384 13.85257127] [-0.05933233 0.99789423 0.02620661 0.27229291] [ 0.01543938 -0.02533237 0.99955985 -2.21959285] [ 0. 0. 0. 1. ]] SLAMing on 156.03719347 meters Centerline goodness : 0.887858 Centerline is valid? [False, False] Translation: X:13.85, Y:0.27, Z:-2.22 [[ 0.99821928 0.05778695 -0.01479679 13.85499299] [-0.05741664 0.99805367 0.02433526 0.26957611] [ 0.01617425 -0.02344235 0.99959434 -2.22065938] [ 0. 0. 0. 1. ]] SLAMing on 156.06719347 meters Centerline goodness : 0.888380 Centerline is valid? [False, False] Translation: X:13.86, Y:0.27, Z:-2.22 [[ 0.99832948 0.05561064 -0.01567498 13.85721276] [-0.05525391 0.99822239 0.0223399 0.26600208] [ 0.01688945 -0.02143647 0.99962754 -2.22158298] [ 0. 0. 0. 1. ]] SLAMing on 156.09719347 meters Centerline goodness : 0.888333 Centerline is valid? [False, False] Translation: X:13.86, Y:0.26, Z:-2.22 [[ 0.99834606 0.05523168 -0.01595613 13.85667245] [-0.05486803 0.99824245 0.02239433 0.25606581] [ 0.01716496 -0.02148181 0.99962188 -2.22002781] [ 0. 0. 0. 1. ]] SLAMing on 156.12719347 meters Centerline goodness : 0.891332 Centerline is valid? [False, False] Translation: X:13.86, Y:0.25, Z:-2.22 [[ 0.9984075 0.05391394 -0.0166057 13.85828577] [-0.05356455 0.99834748 0.02081207 0.25293339] [ 0.01770032 -0.01988945 0.99964549 -2.22044809] [ 0. 0. 0. 1. ]] SLAMing on 156.15719347 meters Centerline goodness : 0.889645 Centerline is valid? [False, False] Translation: X:13.86, Y:0.25, Z:-2.22 [[ 0.99834757 0.05494582 -0.0168252 13.85865101] [-0.05456501 0.99826089 0.02231279 0.24903253] [ 0.01802193 -0.02135785 0.99960945 -2.22031466] [ 0. 0. 0. 1. ]] SLAMing on 156.18719347 meters Centerline goodness : 0.889130 Centerline is valid? [False, False] Translation: X:13.87, Y:0.24, Z:-2.22 [[ 9.98334867e-01 5.63338243e-02 -1.24094029e-02 1.38743803e+01] [-5.59305834e-02 9.97961198e-01 3.07443721e-02 2.35589023e-01] [ 1.41160507e-02 -2.99991135e-02 9.99450244e-01 -2.22179135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21719347 meters Centerline goodness : 0.886771 Centerline is valid? [False, False] Translation: X:13.89, Y:0.23, Z:-2.22 [[ 9.98526066e-01 5.35796843e-02 -8.65525851e-03 1.38906288e+01] [-5.32543063e-02 9.97993713e-01 3.42421970e-02 2.28245480e-01] [ 1.04725797e-02 -3.37307965e-02 9.99376085e-01 -2.22284074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24719346999998 meters Centerline goodness : 0.887839 Centerline is valid? [False, False] Translation: X:13.91, Y:0.22, Z:-2.22 [[ 9.98749780e-01 4.97578186e-02 -4.79954634e-03 1.39066063e+01] [-4.95480534e-02 9.98092293e-01 3.68342798e-02 2.20163074e-01] [ 6.62318363e-03 -3.65504207e-02 9.99309862e-01 -2.22367785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27719347 meters Centerline goodness : 0.889060 Centerline is valid? [False, False] Translation: X:13.92, Y:0.21, Z:-2.22 [[ 9.98976229e-01 4.52295015e-02 -8.86697271e-04 1.39223247e+01] [-4.51604747e-02 9.98216873e-01 3.90333871e-02 2.11142393e-01] [ 2.65057682e-03 -3.89533822e-02 9.99237514e-01 -2.22466165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30719347 meters Centerline goodness : 0.889004 Centerline is valid? [False, False] Translation: X:13.95, Y:0.19, Z:-2.23 [[ 9.99377710e-01 3.51868084e-02 2.46609942e-03 1.39542292e+01] [-3.52571658e-02 9.98583942e-01 3.98377145e-02 1.91429184e-01] [-1.06084525e-03 -3.98998715e-02 9.99203120e-01 -2.22537114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33719347 meters Centerline goodness : 0.884244 Centerline is valid? [False, False] Translation: X:13.97, Y:0.18, Z:-2.23 [[ 9.99566757e-01 2.88117238e-02 6.01526092e-03 1.39706188e+01] [-2.90291573e-02 9.98782374e-01 3.98883216e-02 1.82358474e-01] [-4.85868528e-03 -4.00456582e-02 9.99186038e-01 -2.22674011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36719347 meters Centerline goodness : 0.885472 Centerline is valid? [False, False] Translation: X:13.99, Y:0.17, Z:-2.23 [[ 9.99692964e-01 2.29673352e-02 9.29941947e-03 1.39876525e+01] [-2.33224760e-02 9.98924410e-01 4.00759817e-02 1.74133609e-01] [-8.36897860e-03 -4.02805625e-02 9.99153360e-01 -2.22793031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39719347 meters Centerline goodness : 0.887907 Centerline is valid? [False, False] Translation: X:14.01, Y:0.17, Z:-2.23 [[ 9.99784260e-01 1.70758673e-02 1.18257444e-02 1.40053717e+01] [-1.75450507e-02 9.99014170e-01 4.07781668e-02 1.66085637e-01] [-1.11177637e-02 -4.09768526e-02 9.99098240e-01 -2.22961273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42719347 meters Centerline goodness : 0.886263 Centerline is valid? [False, False] Translation: X:14.02, Y:0.16, Z:-2.23 [[ 9.99835671e-01 1.25350649e-02 1.30959043e-02 1.40248462e+01] [-1.31006290e-02 9.98944198e-01 4.40325294e-02 1.57286831e-01] [-1.25301270e-02 -4.41968582e-02 9.98944260e-01 -2.23279426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45719347 meters Centerline goodness : 0.885380 Centerline is valid? [False, False] Translation: X:14.06, Y:0.13, Z:-2.23 [[ 9.99927835e-01 5.59565801e-04 1.20005013e-02 1.40593489e+01] [-1.60252983e-03 9.96200245e-01 8.70775780e-02 1.31763306e-01] [-1.19061767e-02 -8.70905252e-02 9.96129250e-01 -2.23269182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48719347 meters Centerline goodness : 0.887133 Centerline is valid? [False, False] Translation: X:14.07, Y:0.13, Z:-2.23 [[ 9.99919582e-01 -5.44877566e-03 1.14516277e-02 1.40671629e+01] [ 4.34416255e-03 9.95528476e-01 9.43619683e-02 1.27614551e-01] [-1.19145786e-02 -9.43046322e-02 9.95472089e-01 -2.22907162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51719347 meters Centerline goodness : 0.885916 Centerline is valid? [False, False] Translation: X:14.07, Y:0.13, Z:-2.23 [[ 9.99890353e-01 -9.43268156e-03 1.14152017e-02 1.40669528e+01] [ 8.35795107e-03 9.95835183e-01 9.07878413e-02 1.25433166e-01] [-1.22240323e-02 -9.06824789e-02 9.95804831e-01 -2.22804929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54719347 meters Centerline goodness : 0.892037 Centerline is valid? [False, False] Translation: X:14.07, Y:0.12, Z:-2.23 [[ 9.99811775e-01 -1.56362092e-02 1.14858140e-02 1.40665021e+01] [ 1.45975167e-02 9.96228059e-01 8.55369313e-02 1.18388955e-01] [-1.27799635e-02 -8.53531668e-02 9.96268794e-01 -2.22655040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57719347 meters Centerline goodness : 0.884114 Centerline is valid? [False, False] Translation: X:14.05, Y:0.12, Z:-2.23 [[ 9.99854309e-01 -1.21567150e-02 1.19822508e-02 1.40482085e+01] [ 1.12814151e-02 9.97441536e-01 7.05911571e-02 1.18923825e-01] [-1.28097512e-02 -7.04456959e-02 9.97433363e-01 -2.22581703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60719347 meters Centerline goodness : 0.884450 Centerline is valid? [False, False] Translation: X:14.03, Y:0.12, Z:-2.22 [[ 9.99921940e-01 -6.73503044e-03 1.05239569e-02 1.40264514e+01] [ 6.12175618e-03 9.98340669e-01 5.72575973e-02 1.22022889e-01] [-1.08921258e-02 -5.71887027e-02 9.98303969e-01 -2.22318502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63719347 meters Centerline goodness : 0.879919 Centerline is valid? [False, False] Translation: X:14.02, Y:0.13, Z:-2.22 [[ 9.99973852e-01 -3.61529002e-03 6.26306025e-03 1.40173319e+01] [ 3.31187780e-03 9.98851643e-01 4.77956726e-02 1.25486324e-01] [-6.42866324e-03 -4.77736803e-02 9.98837498e-01 -2.22042634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66719347 meters Centerline goodness : 0.878117 Centerline is valid? [False, False] Translation: X:14.01, Y:0.13, Z:-2.22 [[ 9.99996451e-01 -6.47580083e-04 2.58438181e-03 1.40092133e+01] [ 5.48628425e-04 9.99273512e-01 3.81070419e-02 1.27803238e-01] [-2.60718165e-03 -3.81054888e-02 9.99270321e-01 -2.21901735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69719347 meters Centerline goodness : 0.878783 Centerline is valid? [False, False] Translation: X:14.01, Y:0.13, Z:-2.22 [[ 9.99996030e-01 1.52163711e-03 2.37183512e-03 1.40100114e+01] [-1.61403065e-03 9.99220161e-01 3.94520533e-02 1.25654288e-01] [-2.30995376e-03 -3.94557249e-02 9.99218650e-01 -2.21936654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72719347 meters Centerline goodness : 0.878897 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:-2.22 [[ 9.99995481e-01 2.25177352e-03 1.99179748e-03 1.40111682e+01] [-2.32960878e-03 9.99197783e-01 3.99795401e-02 1.24759635e-01] [-1.90017475e-03 -3.99839995e-02 9.99198513e-01 -2.21988894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75719347 meters Centerline goodness : 0.874839 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:-2.22 [[ 9.99994321e-01 2.87976172e-03 1.75051423e-03 1.40121483e+01] [-2.94827321e-03 9.99175829e-01 4.04841940e-02 1.23751341e-01] [-1.63248668e-03 -4.04891250e-02 9.99178646e-01 -2.22057547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78719347 meters Centerline goodness : 0.873189 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:-2.22 [[ 9.99993517e-01 3.32735501e-03 1.37629874e-03 1.40131812e+01] [-3.38100164e-03 9.99152985e-01 4.10107376e-02 1.22317283e-01] [-1.23867572e-03 -4.10151250e-02 9.99157758e-01 -2.22095825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81719347 meters Centerline goodness : 0.877768 Centerline is valid? [False, False] Translation: X:14.03, Y:0.12, Z:-2.22 [[ 9.99972558e-01 7.25920016e-03 1.47918544e-03 1.40332558e+01] [-7.30039847e-03 9.99521253e-01 3.00660621e-02 1.19260690e-01] [-1.26022173e-03 -3.00760356e-02 9.99546819e-01 -2.22164238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84719347 meters Centerline goodness : 0.876457 Centerline is valid? [False, False] Translation: X:14.03, Y:0.12, Z:-2.22 [[ 9.99990415e-01 4.24205330e-03 1.08373875e-03 1.40341157e+01] [-4.26952227e-03 9.99633183e-01 2.67445563e-02 1.18597432e-01] [-9.69889380e-04 -2.67489270e-02 9.99641713e-01 -2.22166094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87719347 meters Centerline goodness : 0.867407 Centerline is valid? [False, False] Translation: X:14.05, Y:0.12, Z:-2.22 [[ 9.99989324e-01 1.50530109e-03 4.36874994e-03 1.40513902e+01] [-1.62047264e-03 9.99648033e-01 2.64799011e-02 1.15989792e-01] [-4.32735205e-03 -2.64866979e-02 9.99639800e-01 -2.22139251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90719347 meters Centerline goodness : 0.865296 Centerline is valid? [False, False] Translation: X:14.07, Y:0.11, Z:-2.22 [[ 9.99976247e-01 -4.04152689e-04 6.88054428e-03 1.40703368e+01] [ 2.04654709e-04 9.99580244e-01 2.89705563e-02 1.11127581e-01] [-6.88936466e-03 -2.89684600e-02 9.99556584e-01 -2.22290826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93719347 meters Centerline goodness : 0.865368 Centerline is valid? [False, False] Translation: X:14.09, Y:0.10, Z:-2.22 [[ 9.99937612e-01 -3.76673953e-03 1.05159241e-02 1.40865511e+01] [ 3.41218756e-03 9.99431805e-01 3.35324413e-02 1.00748926e-01] [-1.06362570e-02 -3.34944670e-02 9.99382305e-01 -2.22487581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96719347 meters Centerline goodness : 0.863711 Centerline is valid? [False, False] Translation: X:14.10, Y:0.10, Z:-2.23 [[ 9.99903966e-01 -4.79563253e-03 1.30023032e-02 1.41049442e+01] [ 4.28893810e-03 9.99240846e-01 3.87212697e-02 9.51520452e-02] [-1.31781254e-02 -3.86617850e-02 9.99165453e-01 -2.22745587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99719346999998 meters Centerline goodness : 0.864806 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99827318e-01 -8.22108525e-03 1.66657726e-02 1.41169372e+01] [ 7.42725055e-03 9.98860330e-01 4.71474051e-02 9.05429246e-02] [-1.70343819e-02 -4.70154827e-02 9.98748904e-01 -2.23104730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02719347 meters Centerline goodness : 0.867278 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99827138e-01 -9.86840752e-03 1.57578204e-02 1.41194109e+01] [ 9.12056446e-03 9.98860532e-01 4.68449894e-02 8.79154567e-02] [-1.62021503e-02 -4.66931714e-02 9.98777872e-01 -2.23151594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05719347 meters Centerline goodness : 0.864504 Centerline is valid? [False, False] Translation: X:14.13, Y:0.08, Z:-2.23 [[ 0.99968271 -0.01693239 0.01864878 14.12696718] [ 0.01591715 0.99845145 0.05330433 0.08171512] [-0.01952248 -0.05299059 0.99840416 -2.23055345] [ 0. 0. 0. 1. ]] SLAMing on 157.08719347 meters Centerline goodness : 0.864571 Centerline is valid? [False, False] Translation: X:14.13, Y:0.08, Z:-2.23 [[ 0.99960972 -0.02059571 0.01887386 14.12635755] [ 0.01963631 0.99857214 0.04967987 0.08087122] [-0.01987011 -0.04928987 0.99858685 -2.22981479] [ 0. 0. 0. 1. ]] SLAMing on 157.11719347 meters Centerline goodness : 0.862577 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99968971 -0.0199367 0.01493356 14.1154217 ] [ 0.01933131 0.99902695 0.03964168 0.08204064] [-0.01570936 -0.03934069 0.99910236 -2.2260904 ] [ 0. 0. 0. 1. ]] SLAMing on 157.14719347 meters Centerline goodness : 0.862577 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99968971 -0.0199367 0.01493356 14.1154217 ] [ 0.01933131 0.99902695 0.03964168 0.08204064] [-0.01570936 -0.03934069 0.99910236 -2.2260904 ] [ 0. 0. 0. 1. ]] SLAMing on 157.17719347 meters Centerline goodness : 0.861495 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99961202 -0.0233238 0.01522546 14.11507592] [ 0.02277489 0.9991179 0.03528059 0.08376895] [-0.01603491 -0.03492014 0.99926146 -2.22636189] [ 0. 0. 0. 1. ]] SLAMing on 157.20719347 meters Centerline goodness : 0.864020 Centerline is valid? [False, False] Translation: X:14.12, Y:0.08, Z:-2.23 [[ 0.99960731 -0.02375543 0.0148627 14.11623573] [ 0.0232243 0.99911945 0.0349421 0.08393712] [-0.01567968 -0.0345832 0.99927881 -2.22704574] [ 0. 0. 0. 1. ]] SLAMing on 157.23719347 meters Centerline goodness : 0.864906 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99680421e-01 -2.33960867e-02 9.57494975e-03 1.41190795e+01] [ 2.32177666e-02 9.99562391e-01 1.83292562e-02 8.65733903e-02] [-9.99959253e-03 -1.81010896e-02 9.99786156e-01 -2.22829726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26719347 meters Centerline goodness : 0.863075 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99605856e-01 -2.64822843e-02 9.31779266e-03 1.41204188e+01] [ 2.63438033e-02 9.99545097e-01 1.46834503e-02 8.68068035e-02] [-9.70240528e-03 -1.44321968e-02 9.99848776e-01 -2.22940998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29719347 meters Centerline goodness : 0.859121 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99485902e-01 -3.06441016e-02 9.42710068e-03 1.41206897e+01] [ 3.05514977e-02 9.99485002e-01 9.81517834e-03 8.90744100e-02] [-9.72302306e-03 -9.52212034e-03 9.99907392e-01 -2.22986087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32719347 meters Centerline goodness : 0.861487 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99475709e-01 -3.10859040e-02 9.05395896e-03 1.41216334e+01] [ 3.10016527e-02 9.99476050e-01 9.30175323e-03 9.03949037e-02] [-9.33836854e-03 -9.01618871e-03 9.99915748e-01 -2.23022183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35719347 meters Centerline goodness : 0.862318 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:-2.23 [[ 9.99464507e-01 -3.15084122e-02 8.82714684e-03 1.41222556e+01] [ 3.14346044e-02 9.99470689e-01 8.37904419e-03 9.27599427e-02] [-9.08648491e-03 -8.09707941e-03 9.99925934e-01 -2.23058355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38719347 meters Centerline goodness : 0.861089 Centerline is valid? [False, False] Translation: X:14.13, Y:0.09, Z:-2.23 [[ 9.99518160e-01 -3.00655712e-02 7.71418777e-03 1.41254450e+01] [ 2.99889467e-02 9.99501563e-01 9.86345205e-03 9.41011854e-02] [-8.00689305e-03 -9.62735908e-03 9.99921599e-01 -2.23216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41719347 meters Centerline goodness : 0.861506 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99657525e-01 -2.61070525e-02 1.80378555e-03 1.41162037e+01] [ 2.61000737e-02 9.99652151e-01 3.78985915e-03 9.65312636e-02] [-1.90210016e-03 -3.74148228e-03 9.99991192e-01 -2.22854408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44719347 meters Centerline goodness : 0.863798 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99755945e-01 -2.20049999e-02 1.95692848e-03 1.41151491e+01] [ 2.19889227e-02 9.99727088e-01 7.88903220e-03 9.62919533e-02] [-2.12999256e-03 -7.84407610e-03 9.99966966e-01 -2.22765812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47719347 meters Centerline goodness : 0.864150 Centerline is valid? [False, False] Translation: X:14.11, Y:0.10, Z:-2.23 [[ 9.99832482e-01 -1.81941750e-02 1.99495079e-03 1.41149938e+01] [ 1.81697298e-02 9.99766993e-01 1.16542255e-02 9.63891200e-02] [-2.20652497e-03 -1.16160255e-02 9.99930097e-01 -2.22770205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50719347 meters Centerline goodness : 0.869734 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99894454e-01 -1.43989959e-02 1.93631722e-03 1.41150693e+01] [ 1.43685724e-02 9.99785718e-01 1.49017591e-02 9.87721459e-02] [-2.15047267e-03 -1.48723641e-02 9.99887088e-01 -2.22772569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53719347 meters Centerline goodness : 0.867538 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:-2.23 [[ 9.99944626e-01 -1.03626075e-02 1.83349158e-03 1.41154222e+01] [ 1.03278337e-02 9.99783652e-01 1.80550625e-02 1.02117708e-01] [-2.02019243e-03 -1.80351267e-02 9.99835313e-01 -2.22797743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56719347 meters Centerline goodness : 0.869094 Centerline is valid? [False, False] Translation: X:14.11, Y:0.11, Z:-2.23 [[ 9.99988576e-01 -5.58008396e-04 -4.74720946e-03 1.41078526e+01] [ 6.32584633e-04 9.99876193e-01 1.57225201e-02 1.08589665e-01] [ 4.73784843e-03 -1.57253435e-02 9.99865124e-01 -2.22579617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59719347 meters Centerline goodness : 0.870927 Centerline is valid? [False, False] Translation: X:14.11, Y:0.11, Z:-2.23 [[ 9.99985124e-01 1.24018244e-03 -5.31170474e-03 1.41103279e+01] [-1.15080961e-03 9.99858279e-01 1.67957732e-02 1.09999399e-01] [ 5.33178178e-03 -1.67894106e-02 9.99844832e-01 -2.22746428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62719347 meters Centerline goodness : 0.872031 Centerline is valid? [False, False] Translation: X:14.12, Y:0.11, Z:-2.23 [[ 9.99994063e-01 3.35621309e-03 -7.81534757e-04 1.41186887e+01] [-3.34969434e-03 9.99960785e-01 8.19799471e-03 1.13222849e-01] [ 8.09018327e-04 -8.19532814e-03 9.99966090e-01 -2.22833156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65719347 meters Centerline goodness : 0.870953 Centerline is valid? [False, False] Translation: X:14.12, Y:0.11, Z:-2.23 [[ 9.99993839e-01 3.40327836e-03 -8.59589796e-04 1.41185074e+01] [-3.39643709e-03 9.99963509e-01 7.83862407e-03 1.14680768e-01] [ 8.86235448e-04 -7.83565623e-03 9.99968908e-01 -2.22771875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68719347 meters Centerline goodness : 0.872385 Centerline is valid? [False, False] Translation: X:14.13, Y:0.12, Z:-2.22 [[ 9.99982293e-01 3.30486969e-03 4.94884907e-03 1.41313182e+01] [-3.35053553e-03 9.99951624e-01 9.24788523e-03 1.15288374e-01] [-4.91804660e-03 -9.26430277e-03 9.99944991e-01 -2.22484959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71719347 meters Centerline goodness : 0.871205 Centerline is valid? [False, False] Translation: X:14.15, Y:0.11, Z:-2.22 [[ 9.99965365e-01 3.43669742e-03 7.58012246e-03 1.41495321e+01] [-3.52099557e-03 9.99931796e-01 1.11357825e-02 1.14845047e-01] [-7.54133515e-03 -1.11620864e-02 9.99909264e-01 -2.22487509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74719346999998 meters Centerline goodness : 0.865408 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:-2.23 [[ 9.99950299e-01 4.36717976e-03 8.96254269e-03 1.41690915e+01] [-4.49662351e-03 9.99885138e-01 1.44737812e-02 1.13759746e-01] [-8.89830364e-03 -1.45133631e-02 9.99855081e-01 -2.22576916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77719347 meters Centerline goodness : 0.864111 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:-2.23 [[ 9.99951831e-01 4.83884194e-03 8.53941522e-03 1.41702655e+01] [-4.96567311e-03 9.99876744e-01 1.48942741e-02 1.13079094e-01] [-8.46629164e-03 -1.49359606e-02 9.99852609e-01 -2.22632125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80719347 meters Centerline goodness : 0.864701 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:-2.23 [[ 9.99949413e-01 5.92552615e-03 8.12768597e-03 1.41718989e+01] [-6.05668667e-03 9.99850282e-01 1.62089545e-02 1.10268661e-01] [-8.03042252e-03 -1.62573614e-02 9.99835592e-01 -2.22742345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83719347 meters Centerline goodness : 0.865030 Centerline is valid? [False, False] Translation: X:14.19, Y:0.11, Z:-2.23 [[ 9.99933529e-01 4.24595690e-03 1.07196282e-02 1.41909177e+01] [-4.41232146e-03 9.99869450e-01 1.55439700e-02 1.09456576e-01] [-1.06522297e-02 -1.55902352e-02 9.99821721e-01 -2.22820053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86719347 meters Centerline goodness : 0.866285 Centerline is valid? [False, False] Translation: X:14.19, Y:0.11, Z:-2.23 [[ 9.99945229e-01 2.43081816e-03 1.01798489e-02 1.41929266e+01] [-2.56663908e-03 9.99907585e-01 1.33503928e-02 1.07987596e-01] [-1.01464557e-02 -1.33757896e-02 9.99859059e-01 -2.22932687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89719347 meters Centerline goodness : 0.867949 Centerline is valid? [False, False] Translation: X:14.21, Y:0.11, Z:-2.23 [[ 9.99933555e-01 2.20381008e-03 1.13150004e-02 1.42128802e+01] [-2.38188008e-03 9.99873152e-01 1.57482354e-02 1.05532030e-01] [-1.12788590e-02 -1.57741399e-02 9.99811964e-01 -2.23041582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92719347 meters Centerline goodness : 0.866284 Centerline is valid? [False, False] Translation: X:14.22, Y:0.10, Z:-2.23 [[ 9.99938034e-01 3.35632036e-03 1.06142533e-02 1.42156963e+01] [-3.53783968e-03 9.99847026e-01 1.71291865e-02 1.03547694e-01] [-1.05551386e-02 -1.71656766e-02 9.99796944e-01 -2.23242950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95719347 meters Centerline goodness : 0.870915 Centerline is valid? [False, False] Translation: X:14.24, Y:0.10, Z:-2.24 [[ 9.99971855e-01 3.69881563e-03 6.52745397e-03 1.42416695e+01] [-3.82001490e-03 9.99818704e-01 1.86538789e-02 1.00439799e-01] [-6.45727331e-03 -1.86782889e-02 9.99804694e-01 -2.23582857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98719347 meters Centerline goodness : 0.872134 Centerline is valid? [False, False] Translation: X:14.26, Y:0.10, Z:-2.24 [[ 9.99983970e-01 3.33340471e-03 4.57696159e-03 1.42644602e+01] [-3.42855053e-03 9.99774856e-01 2.09399530e-02 9.64845036e-02] [-4.50612978e-03 -2.09553097e-02 9.99770259e-01 -2.23821992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01719347 meters Centerline goodness : 0.865381 Centerline is valid? [False, False] Translation: X:14.28, Y:0.09, Z:-2.24 [[ 9.99983000e-01 3.39734543e-03 4.73890227e-03 1.42849462e+01] [-3.51471589e-03 9.99681697e-01 2.49830206e-02 9.11989903e-02] [-4.65251791e-03 -2.49992518e-02 9.99676643e-01 -2.23997884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04719347 meters Centerline goodness : 0.861312 Centerline is valid? [False, False] Translation: X:14.30, Y:0.09, Z:-2.24 [[ 9.99978193e-01 1.27812763e-03 6.47916403e-03 1.43043793e+01] [-1.43995535e-03 9.99685568e-01 2.50338159e-02 8.85109147e-02] [-6.44513036e-03 -2.50425997e-02 9.99665608e-01 -2.24097309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07719347 meters Centerline goodness : 0.862354 Centerline is valid? [False, False] Translation: X:14.32, Y:0.09, Z:-2.24 [[ 9.99968884e-01 -1.03249512e-03 7.82078459e-03 1.43241739e+01] [ 8.37767174e-04 9.99690560e-01 2.48612554e-02 8.59878923e-02] [-7.84403365e-03 -2.48539299e-02 9.99660319e-01 -2.24191738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10719347 meters Centerline goodness : 0.861989 Centerline is valid? [False, False] Translation: X:14.36, Y:0.07, Z:-2.24 [[ 9.99990566e-01 -2.04124332e-03 3.83420595e-03 1.43622095e+01] [ 1.91166194e-03 9.99436854e-01 3.35010424e-02 7.48354233e-02] [-3.90043051e-03 -3.34933966e-02 9.99431328e-01 -2.24102940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13719347 meters Centerline goodness : 0.865641 Centerline is valid? [False, False] Translation: X:14.38, Y:0.07, Z:-2.24 [[ 9.99987583e-01 -4.11699531e-03 2.80773597e-03 1.43847272e+01] [ 4.02163685e-03 9.99441892e-01 3.31621880e-02 7.07184433e-02] [-2.94269752e-03 -3.31504846e-02 9.99446040e-01 -2.24324060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16719347 meters Centerline goodness : 0.870617 Centerline is valid? [False, False] Translation: X:14.41, Y:0.07, Z:-2.24 [[ 9.99974996e-01 -6.32279971e-03 3.16709465e-03 1.44057843e+01] [ 6.21618188e-03 9.99448732e-01 3.26127600e-02 6.73777923e-02] [-3.37155268e-03 -3.25922573e-02 9.99463045e-01 -2.24484274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19719347 meters Centerline goodness : 0.867569 Centerline is valid? [False, False] Translation: X:14.43, Y:0.06, Z:-2.25 [[ 9.99952195e-01 -8.34958444e-03 5.08834281e-03 1.44251911e+01] [ 8.18255395e-03 9.99454141e-01 3.20072683e-02 6.44888184e-02] [-5.35281268e-03 -3.19641025e-02 9.99474684e-01 -2.24546482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22719347 meters Centerline goodness : 0.863717 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-2.25 [[ 9.99933048e-01 -8.38533119e-03 7.97412831e-03 1.44432357e+01] [ 8.08207124e-03 9.99270273e-01 3.73309846e-02 5.36568350e-02] [-8.28134204e-03 -3.72640377e-02 9.99271140e-01 -2.24572692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25719347 meters Centerline goodness : 0.865317 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-2.25 [[ 9.99907291e-01 -1.12185980e-02 7.71704517e-03 1.44436204e+01] [ 1.09464619e-02 9.99346613e-01 3.44459415e-02 5.14221384e-02] [-8.09843812e-03 -3.43582738e-02 9.99376768e-01 -2.24517390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28719347 meters Centerline goodness : 0.864251 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-2.24 [[ 9.99938097e-01 -1.06605167e-02 3.18686040e-03 1.44402868e+01] [ 1.05974070e-02 9.99759418e-01 1.92041736e-02 5.20279277e-02] [-3.39082012e-03 -1.91692124e-02 9.99810504e-01 -2.24144351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31719347 meters Centerline goodness : 0.870308 Centerline is valid? [False, False] Translation: X:14.46, Y:0.05, Z:-2.24 [[ 9.99936513e-01 -9.78559385e-03 5.58673953e-03 1.44588738e+01] [ 9.65812841e-03 9.99702344e-01 2.24040995e-02 4.83241954e-02] [-5.80431402e-03 -2.23487197e-02 9.99733387e-01 -2.24155499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34719347 meters Centerline goodness : 0.867424 Centerline is valid? [False, False] Translation: X:14.48, Y:0.04, Z:-2.24 [[ 9.99937657e-01 -7.56792116e-03 8.21033435e-03 1.44765368e+01] [ 7.33102509e-03 9.99566635e-01 2.85096117e-02 4.30997892e-02] [-8.42253477e-03 -2.84476442e-02 9.99559799e-01 -2.24146801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37719347 meters Centerline goodness : 0.863832 Centerline is valid? [False, False] Translation: X:14.47, Y:0.04, Z:-2.24 [[ 9.99893792e-01 -1.16646212e-02 8.73734106e-03 1.44731581e+01] [ 1.14411462e-02 9.99616842e-01 2.52045489e-02 3.87133479e-02] [-9.02799479e-03 -2.51019067e-02 9.99644131e-01 -2.23783769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40719347 meters Centerline goodness : 0.864807 Centerline is valid? [False, False] Translation: X:14.47, Y:0.04, Z:-2.24 [[ 9.99934699e-01 -9.43630402e-03 6.44625875e-03 1.44733894e+01] [ 9.36024993e-03 9.99887411e-01 1.17281836e-02 3.79467758e-02] [-6.55620368e-03 -1.16670792e-02 9.99910444e-01 -2.23715682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43719347 meters Centerline goodness : 0.864440 Centerline is valid? [False, False] Translation: X:14.47, Y:0.04, Z:-2.24 [[ 9.99900113e-01 -1.25791777e-02 6.44428819e-03 1.44735855e+01] [ 1.25246718e-02 9.99886030e-01 8.42968495e-03 3.71117226e-02] [-6.54959224e-03 -8.34813034e-03 9.99943704e-01 -2.23725631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46719347 meters Centerline goodness : 0.862558 Centerline is valid? [False, False] Translation: X:14.47, Y:0.03, Z:-2.24 [[ 9.99861092e-01 -1.54586061e-02 6.23115199e-03 1.44744297e+01] [ 1.54215211e-02 9.99863340e-01 5.95630468e-03 3.35784680e-02] [-6.32237661e-03 -5.85938346e-03 9.99962847e-01 -2.23761997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49719346999998 meters Centerline goodness : 0.864408 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99864684e-01 -1.53375494e-02 5.94751898e-03 1.44751983e+01] [ 1.52977561e-02 9.99860672e-01 6.67948867e-03 3.14383403e-02] [-6.04913731e-03 -6.58760113e-03 9.99960005e-01 -2.23794567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52719347 meters Centerline goodness : 0.868454 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99861238e-01 -1.56203828e-02 5.78860718e-03 1.44753991e+01] [ 1.55805098e-02 9.99855012e-01 6.87043784e-03 3.03246420e-02] [-5.89508677e-03 -6.77929504e-03 9.99959644e-01 -2.23776037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55719347 meters Centerline goodness : 0.865362 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99801358e-01 -1.91248832e-02 5.61096166e-03 1.44757835e+01] [ 1.91083822e-02 9.99812978e-01 2.97988540e-03 3.15167760e-02] [-5.66690224e-03 -2.87207707e-03 9.99979818e-01 -2.23748596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58719347 meters Centerline goodness : 0.867082 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99801194e-01 -1.91778973e-02 5.45723912e-03 1.44758106e+01] [ 1.91581594e-02 9.99809816e-01 3.64642202e-03 2.95669329e-02] [-5.52613195e-03 -3.54114643e-03 9.99978461e-01 -2.23711404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61719347 meters Centerline goodness : 0.866060 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.24 [[ 9.99735924e-01 -2.23968788e-02 5.14411440e-03 1.44774839e+01] [ 2.23899817e-02 9.99748340e-01 1.39447969e-03 2.56499874e-02] [-5.17405183e-03 -1.27893482e-03 9.99985797e-01 -2.23851683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64719347 meters Centerline goodness : 0.869075 Centerline is valid? [False, False] Translation: X:14.48, Y:0.02, Z:-2.24 [[ 9.99712163e-01 -2.35835921e-02 4.40505828e-03 1.44806912e+01] [ 2.35813695e-02 9.99721766e-01 5.55809035e-04 2.43871307e-02] [-4.41694062e-03 -4.51771746e-04 9.99990143e-01 -2.24088982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67719347 meters Centerline goodness : 0.868937 Centerline is valid? [False, False] Translation: X:14.48, Y:0.02, Z:-2.24 [[ 9.99795287e-01 -1.97979482e-02 4.17440956e-03 1.44814670e+01] [ 1.97748816e-02 9.99789349e-01 5.49643008e-03 2.09473595e-02] [-4.28234825e-03 -5.41275644e-03 9.99976181e-01 -2.24179352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70719347 meters Centerline goodness : 0.869948 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99891387e-01 -1.43805999e-02 3.22693972e-03 1.44990211e+01] [ 1.43974090e-02 9.99882581e-01 -5.24766722e-03 2.13159698e-02] [-3.15109621e-03 5.29355682e-03 9.99981024e-01 -2.24067648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73719347 meters Centerline goodness : 0.871053 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99908734e-01 -1.32027610e-02 2.86544679e-03 1.44995818e+01] [ 1.32164166e-02 9.99901137e-01 -4.80018542e-03 2.18628596e-02] [-2.80178781e-03 4.83761826e-03 9.99984374e-01 -2.24020642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76719347 meters Centerline goodness : 0.867250 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99962232e-01 -4.32710618e-03 7.53735035e-03 1.45010892e+01] [ 4.41148907e-03 9.99927380e-01 -1.12148833e-02 2.20523032e-02] [-7.48827499e-03 1.12477106e-02 9.99908703e-01 -2.23990227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79719347 meters Centerline goodness : 0.868805 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99973208e-01 2.90660708e-04 7.31433390e-03 1.45017090e+01] [-2.47641078e-04 9.99982672e-01 -5.88176983e-03 1.92104817e-02] [-7.31591675e-03 5.87980092e-03 9.99955952e-01 -2.24031972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82719347 meters Centerline goodness : 0.873862 Centerline is valid? [False, False] Translation: X:14.50, Y:0.02, Z:-2.24 [[ 9.99965846e-01 4.37227818e-03 7.01360286e-03 1.45027893e+01] [-4.36503591e-03 9.99989924e-01 -1.04757827e-03 1.61318439e-02] [-7.01811250e-03 1.01692787e-03 9.99974856e-01 -2.24095598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85719347 meters Centerline goodness : 0.873201 Centerline is valid? [False, False] Translation: X:14.50, Y:0.01, Z:-2.24 [[ 9.99959780e-01 6.00145888e-03 6.66483073e-03 1.45047358e+01] [-6.01147811e-03 9.99980829e-01 1.48428380e-03 1.01735572e-02] [-6.65579510e-03 -1.52428959e-03 9.99976688e-01 -2.24254346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88719347 meters Centerline goodness : 0.873110 Centerline is valid? [False, False] Translation: X:14.50, Y:0.01, Z:-2.24 [[ 9.99972859e-01 3.23710503e-03 6.61832051e-03 1.45046343e+01] [-3.23039256e-03 9.99994257e-01 -1.02466287e-03 7.03421250e-03] [-6.62159944e-03 1.00325529e-03 9.99977574e-01 -2.24231434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91719347 meters Centerline goodness : 0.877857 Centerline is valid? [False, False] Translation: X:14.51, Y:0.00, Z:-2.24 [[ 9.99978803e-01 1.48880073e-03 6.33850188e-03 1.45054556e+01] [-1.47304794e-03 9.99995817e-01 -2.48919763e-03 2.92960894e-03] [-6.34218129e-03 2.47980795e-03 9.99976813e-01 -2.24270978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94719347 meters Centerline goodness : 0.879840 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.00, Z:-2.24 [[ 9.99983265e-01 4.53652964e-05 5.78519365e-03 1.45076625e+01] [-2.35972790e-05 9.99992921e-01 -3.76272472e-03 -5.03463608e-04] [-5.78532339e-03 3.76252523e-03 9.99976186e-01 -2.24417622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97719347 meters Centerline goodness : 0.881945 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.01, Z:-2.24 [[ 9.99967833e-01 1.63704506e-03 7.85189387e-03 1.44845063e+01] [-1.62992291e-03 9.99998255e-01 -9.13375189e-04 -8.25013637e-03] [-7.85337540e-03 9.00547827e-04 9.99968756e-01 -2.24208409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00719347 meters Centerline goodness : 0.883721 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.01, Z:-2.24 [[ 9.99966007e-01 2.45946346e-03 7.86996743e-03 1.44843709e+01] [-2.46285944e-03 9.99996878e-01 4.21849398e-04 -1.15980629e-02] [-7.86890534e-03 -4.41217682e-04 9.99968942e-01 -2.24178606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03719347 meters Centerline goodness : 0.885203 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.02, Z:-2.24 [[ 9.99962453e-01 3.46494110e-03 7.94268800e-03 1.44839055e+01] [-3.48214819e-03 9.99991618e-01 2.15360132e-03 -1.57194582e-02] [-7.93515932e-03 -2.18117807e-03 9.99966137e-01 -2.24122045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06719347 meters Centerline goodness : 0.885203 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.02, Z:-2.24 [[ 9.99962453e-01 3.46494110e-03 7.94268800e-03 1.44839055e+01] [-3.48214819e-03 9.99991618e-01 2.15360132e-03 -1.57194582e-02] [-7.93515932e-03 -2.18117807e-03 9.99966137e-01 -2.24122045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09719347 meters Centerline goodness : 0.891686 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.03, Z:-2.24 [[ 9.99970152e-01 1.95718237e-03 7.47421061e-03 1.44856029e+01] [-1.97229589e-03 9.99996024e-01 2.01525375e-03 -2.52884149e-02] [-7.47023668e-03 -2.02993495e-03 9.99970037e-01 -2.24211444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12719347 meters Centerline goodness : 0.892824 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.03, Z:-2.24 [[ 9.99972159e-01 -8.72268963e-04 7.41087031e-03 1.44862655e+01] [ 8.72821674e-04 9.99999617e-01 -7.13473011e-05 -3.03729563e-02] [-7.41080524e-03 7.78136830e-05 9.99972537e-01 -2.24282174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15719347 meters Centerline goodness : 0.888392 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.04, Z:-2.24 [[ 9.99966192e-01 -4.08207549e-03 7.13800803e-03 1.44872517e+01] [ 4.09995518e-03 9.99988490e-01 -2.49202026e-03 -3.51462994e-02] [-7.12775326e-03 2.52120153e-03 9.99971419e-01 -2.24343241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18719347 meters Centerline goodness : 0.891915 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.04, Z:-2.24 [[ 9.99947129e-01 -7.46134724e-03 7.07583382e-03 1.44875200e+01] [ 7.49760083e-03 9.99958831e-01 -5.11096682e-03 -3.91624523e-02] [-7.03740782e-03 5.16374837e-03 9.99961905e-01 -2.24345929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21719347 meters Centerline goodness : 0.894707 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.05, Z:-2.24 [[ 9.99930363e-01 -9.25975525e-03 7.31620579e-03 1.44866370e+01] [ 9.29883901e-03 9.99942580e-01 -5.32624565e-03 -4.82922944e-02] [-7.26646596e-03 5.39390697e-03 9.99959051e-01 -2.24248221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24719346999998 meters Centerline goodness : 0.897772 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.05, Z:-2.24 [[ 9.99916707e-01 -1.09416225e-02 6.84549161e-03 1.44882648e+01] [ 1.09862384e-02 9.99918430e-01 -6.51425565e-03 -5.25301581e-02] [-6.77365670e-03 6.58891926e-03 9.99955351e-01 -2.24328425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27719347 meters Centerline goodness : 0.899287 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.06, Z:-2.24 [[ 9.99926787e-01 -1.01694360e-02 6.55767900e-03 1.44892393e+01] [ 1.01991815e-02 9.99937778e-01 -4.51860756e-03 -5.83435483e-02] [-6.51131928e-03 4.58515970e-03 9.99968289e-01 -2.24366166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30719347 meters Centerline goodness : 0.897786 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.06, Z:-2.24 [[ 9.99933039e-01 -9.52363464e-03 6.57399533e-03 1.44894503e+01] [ 9.54087810e-03 9.99951113e-01 -2.59662127e-03 -6.43128879e-02] [-6.54894468e-03 2.65916909e-03 9.99975020e-01 -2.24375641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33719347 meters Centerline goodness : 0.904994 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.08, Z:-2.25 [[ 9.99912257e-01 -1.16891058e-02 6.23244970e-03 1.44918414e+01] [ 1.17029491e-02 9.99929121e-01 -2.18933819e-03 -7.57068558e-02] [-6.20641654e-03 2.26208414e-03 9.99978181e-01 -2.24577454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36719347 meters Centerline goodness : 0.903332 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.08, Z:-2.25 [[ 9.99871013e-01 -1.50471918e-02 5.61596229e-03 1.44953825e+01] [ 1.50721316e-02 9.99876616e-01 -4.42530541e-03 -8.08455860e-02] [-5.54868095e-03 4.50937912e-03 9.99974438e-01 -2.24849830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39719347 meters Centerline goodness : 0.901098 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.09, Z:-2.25 [[ 9.99816738e-01 -1.84003378e-02 5.28374468e-03 1.44972761e+01] [ 1.84337862e-02 9.99809899e-01 -6.35309697e-03 -8.66803177e-02] [-5.16584110e-03 6.44933211e-03 9.99965860e-01 -2.24981017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42719347 meters Centerline goodness : 0.900665 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.09, Z:-2.25 [[ 9.99737710e-01 -2.23549693e-02 4.97665294e-03 1.44991975e+01] [ 2.23972809e-02 9.99712029e-01 -8.61513822e-03 -9.33126906e-02] [-4.78262866e-03 8.72434205e-03 9.99950505e-01 -2.25109562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45719347 meters Centerline goodness : 0.901809 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.10, Z:-2.25 [[ 9.99642058e-01 -2.63245127e-02 4.77236509e-03 1.45001976e+01] [ 2.63747242e-02 9.99593970e-01 -1.07827876e-02 -9.99534902e-02] [-4.48657574e-03 1.09047978e-02 9.99930476e-01 -2.25141030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48719347 meters Centerline goodness : 0.901660 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.11, Z:-2.25 [[ 9.99528876e-01 -3.03544947e-02 4.54208635e-03 1.45011216e+01] [ 3.04116461e-02 9.99451710e-01 -1.30924141e-02 -1.06771436e-01] [-4.14218235e-03 1.32243783e-02 9.99903974e-01 -2.25144188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51719347 meters Centerline goodness : 0.901151 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.12, Z:-2.25 [[ 9.99165106e-01 -4.05606911e-02 4.89085635e-03 1.45014489e+01] [ 4.06565853e-02 9.98943351e-01 -2.14295118e-02 -1.17152136e-01] [-4.01649262e-03 2.16104660e-02 9.99758399e-01 -2.25135768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54719347 meters Centerline goodness : 0.900703 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.12, Z:-2.25 [[ 9.99001968e-01 -4.44053142e-02 4.82028033e-03 1.45024960e+01] [ 4.45105093e-02 9.98708270e-01 -2.45072719e-02 -1.20199693e-01] [-3.72580072e-03 2.46973660e-02 9.99688031e-01 -2.25208888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57719347 meters Centerline goodness : 0.902702 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.12, Z:-2.25 [[ 9.98979185e-01 -4.49491947e-02 4.48983836e-03 1.45039430e+01] [ 4.50434388e-02 9.98703065e-01 -2.37334294e-02 -1.23648910e-01] [-3.41721679e-03 2.39114397e-02 9.99708240e-01 -2.25296492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60719347 meters Centerline goodness : 0.901066 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.12, Z:-2.25 [[ 9.98932066e-01 -4.60071966e-02 4.25037085e-03 1.45052732e+01] [ 4.60954944e-02 9.98654520e-01 -2.37561747e-02 -1.24164647e-01] [-3.15169706e-03 2.39267277e-02 9.99708747e-01 -2.25388318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63719347 meters Centerline goodness : 0.902538 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.12, Z:-2.25 [[ 9.99031127e-01 -4.35906623e-02 6.05482371e-03 1.45246045e+01] [ 4.37138618e-02 9.98802397e-01 -2.19743161e-02 -1.24579782e-01] [-5.08969744e-03 2.22177055e-02 9.99740201e-01 -2.25413703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66719347 meters Centerline goodness : 0.900544 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.13, Z:-2.25 [[ 9.99176938e-01 -4.01397019e-02 5.85245763e-03 1.45244512e+01] [ 4.02386462e-02 9.99029708e-01 -1.79023182e-02 -1.25182789e-01] [-5.12818533e-03 1.81230784e-02 9.99822612e-01 -2.25346299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69719347 meters Centerline goodness : 0.899387 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.13, Z:-2.25 [[ 9.99308163e-01 -3.67923496e-02 5.43299538e-03 1.45248310e+01] [ 3.68663010e-02 9.99219253e-01 -1.42042096e-02 -1.25315083e-01] [-4.90614734e-03 1.43946770e-02 9.99884355e-01 -2.25290511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72719347 meters Centerline goodness : 0.900401 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.12, Z:-2.26 [[ 9.99448490e-01 -3.09738448e-02 1.19723718e-02 1.45339966e+01] [ 3.11975892e-02 9.99333076e-01 -1.89766741e-02 -1.20823801e-01] [-1.13766066e-02 1.93397174e-02 9.99748242e-01 -2.25519424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75719347 meters Centerline goodness : 0.902771 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.12, Z:-2.26 [[ 9.99559864e-01 -2.73342586e-02 1.15289348e-02 1.45348488e+01] [ 2.75167136e-02 9.99493674e-01 -1.59757952e-02 -1.17902135e-01] [-1.10864109e-02 1.62860021e-02 9.99805910e-01 -2.25530736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78719347 meters Centerline goodness : 0.901767 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.11, Z:-2.26 [[ 0.99969082 -0.0195077 0.01541782 14.5467842 ] [ 0.01979874 0.99962429 -0.01895513 -0.11369763] [-0.01504226 0.01925452 0.99970145 -2.25918728] [ 0. 0. 0. 1. ]] SLAMing on 159.81719347 meters Centerline goodness : 0.898101 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.11, Z:-2.26 [[ 9.99766389e-01 -1.38885107e-02 1.65613287e-02 1.45668631e+01] [ 1.41953557e-02 9.99727037e-01 -1.85564706e-02 -1.08346605e-01] [-1.62990863e-02 1.87872295e-02 9.99690642e-01 -2.26150180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84719347 meters Centerline goodness : 0.896726 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.09, Z:-2.26 [[ 9.99900066e-01 1.50645140e-04 1.41363441e-02 1.46110422e+01] [ 4.15426910e-04 9.99198302e-01 -4.00322572e-02 -9.40206116e-02] [-1.41310417e-02 4.00341293e-02 9.99098385e-01 -2.26235368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87719347 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.09, Z:-2.26 [[ 9.99892304e-01 5.93583498e-03 1.34218673e-02 1.46139572e+01] [-5.47127783e-03 9.99393592e-01 -3.43876779e-02 -9.27442960e-02] [-1.36178478e-02 3.43105397e-02 9.99318438e-01 -2.26423961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90719347 meters Centerline goodness : 0.892559 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.09, Z:-2.26 [[ 9.99852363e-01 1.15385938e-02 1.27323803e-02 1.46418308e+01] [-1.09729245e-02 9.98987190e-01 -4.36370050e-02 -8.99542233e-02] [-1.32229945e-02 4.34908511e-02 9.98966315e-01 -2.26446863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93719347 meters Centerline goodness : 0.892541 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.09, Z:-2.27 [[ 9.99828769e-01 1.40332868e-02 1.20623596e-02 1.46445281e+01] [-1.35299131e-02 9.99073863e-01 -4.08455446e-02 -9.05022253e-02] [-1.26243854e-02 4.06753478e-02 9.99092659e-01 -2.26619457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96719347 meters Centerline goodness : 0.893447 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.09, Z:-2.27 [[ 9.99814007e-01 1.57447161e-02 1.11380041e-02 1.46671844e+01] [-1.52763894e-02 9.99044334e-01 -4.09518000e-02 -9.10480719e-02] [-1.17721344e-02 4.07740348e-02 9.99099042e-01 -2.26824423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99719346999998 meters Centerline goodness : 0.889135 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.09, Z:-2.27 [[ 9.99864790e-01 9.29258514e-03 1.35664676e-02 1.46888674e+01] [-8.85046188e-03 9.99439242e-01 -3.22935229e-02 -9.19834265e-02] [-1.38589504e-02 3.21690870e-02 9.99386351e-01 -2.27120439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02719347 meters Centerline goodness : 0.890050 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.09, Z:-2.27 [[ 9.99879569e-01 8.55330762e-03 1.29494831e-02 1.46904843e+01] [-8.13408575e-03 9.99451971e-01 -3.20873047e-02 -9.40593325e-02] [-1.32168390e-02 3.19781082e-02 9.99401179e-01 -2.27189692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05719347 meters Centerline goodness : 0.890111 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.10, Z:-2.27 [[ 9.99902029e-01 6.91438494e-03 1.21705885e-02 1.46934664e+01] [-6.51292697e-03 9.99443270e-01 -3.27220494e-02 -9.61638213e-02] [-1.23900656e-02 3.26395775e-02 9.99390386e-01 -2.27390739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08719347 meters Centerline goodness : 0.888533 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.10, Z:-2.28 [[ 9.99946440e-01 -1.10091071e-03 1.02910582e-02 1.46973357e+01] [ 1.31622158e-03 9.99779892e-01 -2.09388268e-02 -1.03758576e-01] [-1.02657413e-02 2.09512506e-02 9.99727793e-01 -2.27582492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11719347 meters Centerline goodness : 0.887151 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99945553e-01 -3.85113721e-03 9.69844925e-03 1.46997097e+01] [ 4.07466432e-03 9.99724060e-01 -2.31344137e-02 -1.06537770e-01] [-9.60667926e-03 2.31726721e-02 9.99685320e-01 -2.27742661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14719347 meters Centerline goodness : 0.885571 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99926663e-01 -7.63420627e-03 9.40148750e-03 1.47003644e+01] [ 7.88191112e-03 9.99615125e-01 -2.65984537e-02 -1.08367308e-01] [-9.19481102e-03 2.66706047e-02 9.99601988e-01 -2.27745142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17719347 meters Centerline goodness : 0.889487 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99926511e-01 -8.06854525e-03 9.04823485e-03 1.47008664e+01] [ 8.30181787e-03 9.99626251e-01 -2.60468636e-02 -1.11335189e-01] [-8.83469278e-03 2.61200662e-02 9.99619773e-01 -2.27702331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20719347 meters Centerline goodness : 0.892078 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.11, Z:-2.28 [[ 9.99930004e-01 -7.94589863e-03 8.76638924e-03 1.47009767e+01] [ 8.16559700e-03 9.99646124e-01 -2.53170007e-02 -1.13350084e-01] [-8.56212071e-03 2.53868114e-02 9.99641036e-01 -2.27624102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23719347 meters Centerline goodness : 0.890082 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.12, Z:-2.28 [[ 9.99952712e-01 -4.73057800e-03 8.49677002e-03 1.47012204e+01] [ 4.90786323e-03 9.99768126e-01 -2.09667962e-02 -1.16112426e-01] [-8.39561478e-03 2.10075057e-02 9.99744066e-01 -2.27562817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26719347 meters Centerline goodness : 0.891818 Centerline is valid? [False, False] Translation: X:14.72, Y:-0.12, Z:-2.28 [[ 9.99929841e-01 -2.82057062e-03 1.15047082e-02 1.47197696e+01] [ 3.07228676e-03 9.99754991e-01 -2.19207344e-02 -1.15752800e-01] [-1.14400604e-02 2.19545423e-02 9.99693515e-01 -2.27629958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29719347 meters Centerline goodness : 0.890215 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.12, Z:-2.28 [[ 9.99925313e-01 -4.51999867e-04 1.22132833e-02 1.47401964e+01] [ 7.19454252e-04 9.99759839e-01 -2.19031359e-02 -1.16210599e-01] [-1.22004499e-02 2.19102869e-02 9.99685495e-01 -2.27732760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32719347 meters Centerline goodness : 0.891447 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.12, Z:-2.28 [[ 9.99930058e-01 -5.13942774e-04 1.18159102e-02 1.47411846e+01] [ 7.73565293e-04 9.99758150e-01 -2.19782231e-02 -1.16013466e-01] [-1.18017570e-02 2.19858263e-02 9.99688623e-01 -2.27759871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35719347 meters Centerline goodness : 0.892477 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.12, Z:-2.28 [[ 9.99932969e-01 -9.95711942e-04 1.15354471e-02 1.47422749e+01] [ 1.25251513e-03 9.99751068e-01 -2.22763011e-02 -1.16219135e-01] [-1.15103948e-02 2.22892562e-02 9.99685300e-01 -2.27830911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38719347 meters Centerline goodness : 0.892158 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.12, Z:-2.28 [[ 9.99937238e-01 -2.67300428e-03 1.08800648e-02 1.47450681e+01] [ 2.92878925e-03 9.99718090e-01 -2.35618726e-02 -1.15614586e-01] [-1.08140166e-02 2.35922592e-02 9.99663174e-01 -2.28038296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41719347 meters Centerline goodness : 0.893239 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.11, Z:-2.28 [[ 9.99940706e-01 -3.67316141e-03 1.02514213e-02 1.47474322e+01] [ 3.92277310e-03 9.99693699e-01 -2.44360455e-02 -1.14602723e-01] [-1.01585237e-02 2.44748106e-02 9.99648832e-01 -2.28192002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44719347 meters Centerline goodness : 0.888301 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.11, Z:-2.28 [[ 9.99944400e-01 -4.29047614e-03 9.63266256e-03 1.47492118e+01] [ 4.52872586e-03 9.99680946e-01 -2.48494966e-02 -1.14331516e-01] [-9.52297305e-03 2.48917387e-02 9.99644794e-01 -2.28267884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47719347 meters Centerline goodness : 0.889893 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.12, Z:-2.28 [[ 9.99959861e-01 -6.05266284e-03 6.60611987e-03 1.47774621e+01] [ 6.19232522e-03 9.99753318e-01 -2.13297542e-02 -1.15587628e-01] [-6.47538844e-03 2.13698053e-02 9.99750669e-01 -2.28042196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50719347 meters Centerline goodness : 0.889641 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.12, Z:-2.28 [[ 9.99975616e-01 -2.73128490e-03 6.42703771e-03 1.47771155e+01] [ 2.84142225e-03 9.99848199e-01 -1.71902957e-02 -1.17673815e-01] [-6.37911048e-03 1.72081384e-02 9.99831579e-01 -2.27920858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53719347 meters Centerline goodness : 0.891748 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.12, Z:-2.28 [[ 9.99984033e-01 -5.46845711e-04 5.62448932e-03 1.47791730e+01] [ 6.28902304e-04 9.99893249e-01 -1.45977568e-02 -1.18003314e-01] [-5.61590618e-03 1.46010610e-02 9.99877628e-01 -2.27962541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56719347 meters Centerline goodness : 0.891648 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.12, Z:-2.28 [[ 9.99967023e-01 1.31676270e-03 8.01365023e-03 1.47982413e+01] [-1.18958318e-03 9.99873602e-01 -1.58544860e-02 -1.16769348e-01] [-8.03351391e-03 1.58444303e-02 9.99842196e-01 -2.28041162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59719347 meters Centerline goodness : 0.892200 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.12, Z:-2.28 [[ 9.99966071e-01 3.83585933e-03 7.28997811e-03 1.48003549e+01] [-3.73976885e-03 9.99906549e-01 -1.31494096e-02 -1.15469013e-01] [-7.33973614e-03 1.31217006e-02 9.99886968e-01 -2.28120759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62719347 meters Centerline goodness : 0.892211 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.11, Z:-2.28 [[ 9.99933548e-01 4.81890090e-03 1.04726977e-02 1.48187673e+01] [-4.62751838e-03 9.99823248e-01 -1.82224568e-02 -1.07157134e-01] [-1.05586588e-02 1.81727833e-02 9.99779108e-01 -2.28442355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65719347 meters Centerline goodness : 0.890389 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.11, Z:-2.29 [[ 9.99935237e-01 5.85452162e-03 9.75946747e-03 1.48217348e+01] [-5.68668415e-03 9.99836973e-01 -1.71373407e-02 -1.06009612e-01] [-9.85820735e-03 1.70807318e-02 9.99805513e-01 -2.28638202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68719347 meters Centerline goodness : 0.891236 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.10, Z:-2.29 [[ 9.99941401e-01 5.26418792e-03 9.45958460e-03 1.48227941e+01] [-5.09461917e-03 9.99827497e-01 -1.78611655e-02 -1.04447273e-01] [-9.55197733e-03 1.78119258e-02 9.99795727e-01 -2.28697480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71719347 meters Centerline goodness : 0.889711 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.10, Z:-2.29 [[ 9.99942555e-01 4.72609698e-03 9.62036861e-03 1.48440751e+01] [-4.53265529e-03 9.99789085e-01 -2.00309651e-02 -1.03681754e-01] [-9.71300782e-03 1.99862086e-02 9.99753074e-01 -2.28842695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74719346999998 meters Centerline goodness : 0.890704 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.10, Z:-2.29 [[ 9.99949973e-01 3.79004061e-03 9.25676597e-03 1.48449036e+01] [-3.59802284e-03 9.99779821e-01 -2.06728007e-02 -1.03349871e-01] [-9.33307858e-03 2.06384605e-02 9.99743441e-01 -2.28849625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77719347 meters Centerline goodness : 0.891826 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.10, Z:-2.29 [[ 9.99958948e-01 -2.47726475e-03 8.71582692e-03 1.48726245e+01] [ 2.65110452e-03 9.99796653e-01 -1.99906083e-02 -1.01470719e-01] [-8.66453256e-03 2.00128942e-02 9.99762177e-01 -2.28567692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80719347 meters Centerline goodness : 0.889130 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.10, Z:-2.29 [[ 9.99960275e-01 -3.09882427e-03 8.35737016e-03 1.48734704e+01] [ 3.27089587e-03 9.99781318e-01 -2.06547412e-02 -9.99291299e-02] [-8.29153713e-03 2.06812568e-02 9.99751737e-01 -2.28576266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83719347 meters Centerline goodness : 0.892781 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.10, Z:-2.29 [[ 9.99968339e-01 -2.12503257e-03 7.66848937e-03 1.48956933e+01] [ 2.28673393e-03 9.99773917e-01 -2.11396777e-02 -9.87244804e-02] [-7.62183315e-03 2.11565442e-02 9.99747122e-01 -2.28719893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86719347 meters Centerline goodness : 0.888840 Centerline is valid? [False, False] Translation: X:14.92, Y:-0.09, Z:-2.29 [[ 9.99952080e-01 -4.14532222e-04 9.78084889e-03 1.49162133e+01] [ 6.60854859e-04 9.99682352e-01 -2.51944026e-02 -9.00831579e-02] [-9.76729813e-03 2.51996590e-02 9.99634722e-01 -2.29123328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89719347 meters Centerline goodness : 0.891589 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.09, Z:-2.29 [[ 9.99928210e-01 2.49384443e-03 1.17199034e-02 1.49362665e+01] [-2.19820806e-03 9.99680751e-01 -2.51706873e-02 -8.62900856e-02] [-1.17789337e-02 2.51431175e-02 9.99614466e-01 -2.29273147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92719347 meters Centerline goodness : 0.887310 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.08, Z:-2.29 [[ 9.99921763e-01 5.30840035e-03 1.13264884e-02 1.49378145e+01] [-5.05078354e-03 9.99730623e-01 -2.26532703e-02 -8.33142035e-02] [-1.14436900e-02 2.25942903e-02 9.99679219e-01 -2.29355394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95719347 meters Centerline goodness : 0.887310 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.08, Z:-2.29 [[ 9.99921763e-01 5.30840035e-03 1.13264884e-02 1.49378145e+01] [-5.05078354e-03 9.99730623e-01 -2.26532703e-02 -8.33142035e-02] [-1.14436900e-02 2.25942903e-02 9.99679219e-01 -2.29355394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98719347 meters Centerline goodness : 0.888603 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.08, Z:-2.30 [[ 9.99918581e-01 7.51350054e-03 1.03140242e-02 1.49607573e+01] [-7.27179418e-03 9.99702642e-01 -2.32755144e-02 -8.13398207e-02] [-1.04858378e-02 2.31986179e-02 9.99675883e-01 -2.29611266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01719347 meters Centerline goodness : 0.887501 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.08, Z:-2.30 [[ 9.99887336e-01 1.17453915e-02 9.34666276e-03 1.49654571e+01] [-1.15576967e-02 9.99735403e-01 -1.98882812e-02 -7.76792479e-02] [-9.57778531e-03 1.97780147e-02 9.99758519e-01 -2.29979178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04719347 meters Centerline goodness : 0.887894 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.07, Z:-2.30 [[ 9.99860170e-01 1.43067642e-02 8.65781452e-03 1.49683830e+01] [-1.41531559e-02 9.99745799e-01 -1.75506802e-02 -7.49358541e-02] [-8.90670713e-03 1.74256907e-02 9.99808490e-01 -2.30172818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07719347 meters Centerline goodness : 0.887133 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.07, Z:-2.30 [[ 9.99847291e-01 1.48974567e-02 9.13569050e-03 1.49895797e+01] [-1.46969976e-02 9.99658004e-01 -2.16303973e-02 -6.96339416e-02] [-9.45480403e-03 2.14928270e-02 9.99724295e-01 -2.30448466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10719347 meters Centerline goodness : 0.891440 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.07, Z:-2.31 [[ 9.99801699e-01 1.79749164e-02 8.57120853e-03 1.49916094e+01] [-1.78088551e-02 9.99659489e-01 -1.90722376e-02 -6.69461902e-02] [-8.91111182e-03 1.89158121e-02 9.99781368e-01 -2.30541568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13719347 meters Centerline goodness : 0.884977 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.06, Z:-2.31 [[ 9.99748057e-01 2.09593634e-02 8.03294582e-03 1.49939652e+01] [-2.08219682e-02 9.99641668e-01 -1.68220603e-02 -6.35452359e-02] [-8.38264703e-03 1.66505604e-02 9.99826230e-01 -2.30683623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16719347 meters Centerline goodness : 0.886093 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.06, Z:-2.31 [[ 9.99748463e-01 2.10851579e-02 7.64373016e-03 1.49946875e+01] [-2.09511537e-02 9.99632421e-01 -1.72067418e-02 -6.24636782e-02] [-8.00372735e-03 1.70422687e-02 9.99822735e-01 -2.30658424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19719347 meters Centerline goodness : 0.886535 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.31 [[ 9.99756126e-01 2.09026161e-02 7.12520995e-03 1.49958528e+01] [-2.07728028e-02 9.99625214e-01 -1.78303722e-02 -6.12432138e-02] [-7.49524094e-03 1.76780132e-02 9.99815638e-01 -2.30662110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22719347 meters Centerline goodness : 0.886526 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.31 [[ 9.99754777e-01 2.10264898e-02 6.94781793e-03 1.49958828e+01] [-2.08965584e-02 9.99614653e-01 -1.82723793e-02 -5.99386854e-02] [-7.32934461e-03 1.81227130e-02 9.99808906e-01 -2.30585052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25719347 meters Centerline goodness : 0.891633 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99750638e-01 2.13463793e-02 6.55701537e-03 1.49961828e+01] [-2.12218463e-02 9.99603457e-01 -1.85084399e-02 -5.90817380e-02] [-6.94950341e-03 1.83646726e-02 9.99807203e-01 -2.30490789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28719347 meters Centerline goodness : 0.889929 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99667835e-01 2.50183461e-02 6.18888028e-03 1.49967643e+01] [-2.49200566e-02 9.99569599e-01 -1.54792322e-02 -5.72872383e-02] [-6.57348137e-03 1.53198633e-02 9.99861036e-01 -2.30413779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31719347 meters Centerline goodness : 0.891648 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99578156e-01 2.84167494e-02 5.99982378e-03 1.49976227e+01] [-2.83431767e-02 9.99526091e-01 -1.20107033e-02 -5.62392284e-02] [-6.33828556e-03 1.18355826e-02 9.99909868e-01 -2.30449828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34719347 meters Centerline goodness : 0.890312 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.31 [[ 9.99515731e-01 3.06623017e-02 5.30355377e-03 1.49999985e+01] [-3.06099516e-02 9.99484480e-01 -9.68529423e-03 -5.45647495e-02] [-5.59779310e-03 9.51826241e-03 9.99939032e-01 -2.30563292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37719347 meters Centerline goodness : 0.890485 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99523466e-01 3.04334879e-02 5.16169552e-03 1.49994091e+01] [-3.03779250e-02 9.99483107e-01 -1.05213863e-02 -5.32047993e-02] [-5.47922996e-03 1.03595709e-02 9.99931326e-01 -2.30401225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40719347 meters Centerline goodness : 0.886314 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99537421e-01 2.99941371e-02 5.02948871e-03 1.49994187e+01] [-2.99398600e-02 9.99496124e-01 -1.05404975e-02 -5.43883086e-02] [-5.34310760e-03 1.03850395e-02 9.99931799e-01 -2.30365329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43719347 meters Centerline goodness : 0.887821 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99546506e-01 2.96691654e-02 5.15007437e-03 1.49988574e+01] [-2.96153532e-02 9.99509037e-01 -1.02282272e-02 -5.58559311e-02] [-5.45100884e-03 1.00710675e-02 9.99934428e-01 -2.30325142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46719347 meters Centerline goodness : 0.884656 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99570025e-01 2.89034655e-02 4.93506447e-03 1.49992494e+01] [-2.88494664e-02 9.99526675e-01 -1.06833368e-02 -5.59307601e-02] [-5.24151404e-03 1.05363693e-02 9.99930753e-01 -2.30326146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49719346999998 meters Centerline goodness : 0.886768 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99596025e-01 2.80492718e-02 4.58523879e-03 1.50001474e+01] [-2.79960477e-02 9.99544312e-01 -1.12866636e-02 -5.54011522e-02] [-4.89973205e-03 1.11537356e-02 9.99925791e-01 -2.30360697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52719347 meters Centerline goodness : 0.885140 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99642337e-01 2.64468115e-02 3.97038929e-03 1.50019697e+01] [-2.63939267e-02 9.99569302e-01 -1.28285656e-02 -5.31864154e-02] [-4.30795391e-03 1.27191831e-02 9.99909828e-01 -2.30455968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55719347 meters Centerline goodness : 0.887987 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99653823e-01 2.60527636e-02 3.67268353e-03 1.50024884e+01] [-2.60035211e-02 9.99578973e-01 -1.28721798e-02 -5.37160613e-02] [-4.00649309e-03 1.27722210e-02 9.99910405e-01 -2.30456701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58719347 meters Centerline goodness : 0.883335 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.06, Z:-2.30 [[ 9.99653865e-01 2.60606891e-02 3.60427815e-03 1.50022420e+01] [-2.60140979e-02 9.99584418e-01 -1.24200413e-02 -5.50701445e-02] [-3.92645512e-03 1.23219802e-02 9.99916372e-01 -2.30408102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61719347 meters Centerline goodness : 0.881066 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99700943e-01 2.41356873e-02 3.93614262e-03 1.50002860e+01] [-2.40764095e-02 9.99605402e-01 -1.44695294e-02 -5.48885368e-02] [-4.28382146e-03 1.43704340e-02 9.99887563e-01 -2.30227279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64719347 meters Centerline goodness : 0.879735 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99716548e-01 2.35228550e-02 3.67421609e-03 1.50007530e+01] [-2.34651962e-02 9.99611846e-01 -1.50180456e-02 -5.43089395e-02] [-4.02605724e-03 1.49275725e-02 9.99880472e-01 -2.30212015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67719347 meters Centerline goodness : 0.881184 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99725919e-01 2.31573323e-02 3.43883349e-03 1.50009229e+01] [-2.31021821e-02 9.99616123e-01 -1.52936852e-02 -5.40877463e-02] [-3.79167435e-03 1.52100489e-02 9.99877131e-01 -2.30167291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70719347 meters Centerline goodness : 0.878792 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99750289e-01 2.20662788e-02 3.52680233e-03 1.50006580e+01] [-2.20048332e-02 9.99619994e-01 -1.66028721e-02 -5.17661588e-02] [-3.89182573e-03 1.65211195e-02 9.99855943e-01 -2.30127298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73719347 meters Centerline goodness : 0.876897 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99767306e-01 2.13274952e-02 3.23596548e-03 1.50014122e+01] [-2.12670768e-02 9.99617505e-01 -1.76792397e-02 -4.98075653e-02] [-3.61178163e-03 1.76063063e-02 9.99838473e-01 -2.30131480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76719347 meters Centerline goodness : 0.878416 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99774929e-01 2.09956839e-02 3.04507988e-03 1.50016172e+01] [-2.09367995e-02 9.99614623e-01 -1.82279082e-02 -4.84801682e-02] [-3.42661377e-03 1.81600514e-02 9.99829221e-01 -2.30096845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79719347 meters Centerline goodness : 0.877491 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.05, Z:-2.30 [[ 9.99784475e-01 2.05454962e-02 2.98087451e-03 1.50018349e+01] [-2.04858338e-02 9.99612847e-01 -1.88278143e-02 -4.71378160e-02] [-3.36654724e-03 1.87626907e-02 9.99818297e-01 -2.30094317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82719347 meters Centerline goodness : 0.875281 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.04, Z:-2.30 [[ 9.99805829e-01 1.95224290e-02 2.67948384e-03 1.50030493e+01] [-1.94623124e-02 9.99592584e-01 -2.08778612e-02 -4.23182038e-02] [-3.08597873e-03 2.08216583e-02 9.99778443e-01 -2.30144376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85719347 meters Centerline goodness : 0.875803 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.04, Z:-2.30 [[ 9.99759187e-01 2.18102699e-02 2.42479194e-03 1.50047483e+01] [-2.17619345e-02 9.99593185e-01 -1.84359163e-02 -4.03470734e-02] [-2.82589781e-03 1.83787086e-02 9.99827104e-01 -2.30283877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88719347 meters Centerline goodness : 0.876080 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.04, Z:-2.30 [[ 9.99694300e-01 2.46185463e-02 2.28763376e-03 1.50057597e+01] [-2.45798657e-02 9.99575720e-01 -1.56272540e-02 -3.82824135e-02] [-2.67138344e-03 1.55662470e-02 9.99875270e-01 -2.30360087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91719347 meters Centerline goodness : 0.876800 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.03, Z:-2.30 [[ 9.99726535e-01 2.33612208e-02 -1.05249873e-03 1.50007035e+01] [-2.33664018e-02 9.99713375e-01 -5.21332214e-03 -3.17851014e-02] [ 9.30407485e-04 5.23648959e-03 9.99985857e-01 -2.30444992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94719347 meters Centerline goodness : 0.876800 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.03, Z:-2.30 [[ 9.99728157e-01 2.32908025e-02 -1.07238372e-03 1.50007060e+01] [-2.32961460e-02 9.99714698e-01 -5.27379172e-03 -3.15262478e-02] [ 9.49246924e-04 5.29734049e-03 9.99985518e-01 -2.30439333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97719347 meters Centerline goodness : 0.875214 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.02, Z:-2.30 [[ 9.99714065e-01 2.39059407e-02 -5.41742106e-04 1.49991278e+01] [-2.39085194e-02 9.99699577e-01 -5.39800857e-03 -2.41743007e-02] [ 4.12534881e-04 5.40941734e-03 9.99985284e-01 -2.30310808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00719347 meters Centerline goodness : 0.875536 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.02, Z:-2.30 [[ 9.99728544e-01 2.32854581e-02 -7.90426185e-04 1.49992157e+01] [-2.32900887e-02 9.99707832e-01 -6.46697653e-03 -2.06090213e-02] [ 6.39608737e-04 6.48363013e-03 9.99978776e-01 -2.30241313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03719347 meters Centerline goodness : 0.873780 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.02, Z:-2.30 [[ 9.99824703e-01 1.86807481e-02 -1.26197235e-03 1.49772562e+01] [-1.86746351e-02 9.99814597e-01 4.69358181e-03 -1.53688319e-02] [ 1.34941800e-03 -4.66919217e-03 9.99988189e-01 -2.29876513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06719347 meters Centerline goodness : 0.875496 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.01, Z:-2.30 [[ 9.99839887e-01 1.78063818e-02 -1.76993012e-03 1.49782143e+01] [-1.78012742e-02 9.99837452e-01 2.86082361e-03 -1.02108667e-02] [ 1.82058333e-03 -2.82885854e-03 9.99994342e-01 -2.29855356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09719347 meters Centerline goodness : 0.871129 Centerline is valid? [False, False] Translation: X:14.97, Y:0.00, Z:-2.29 [[ 9.99730661e-01 2.13749194e-02 -9.03982055e-03 1.49664869e+01] [-2.13915247e-02 9.99769654e-01 -1.74420762e-03 2.18539265e-03] [ 9.00045596e-03 1.93711338e-03 9.99957619e-01 -2.29428614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12719347 meters Centerline goodness : 0.874758 Centerline is valid? [False, False] Translation: X:14.97, Y:0.01, Z:-2.29 [[ 9.99649452e-01 2.48436516e-02 -9.15240174e-03 1.49666899e+01] [-2.48383049e-02 9.99691238e-01 6.97399940e-04 6.55686725e-03] [ 9.16690179e-03 -4.69825323e-04 9.99957873e-01 -2.29386694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15719347 meters Centerline goodness : 0.874434 Centerline is valid? [False, False] Translation: X:14.97, Y:0.01, Z:-2.29 [[ 9.99546198e-01 2.87600064e-02 -8.95875557e-03 1.49661879e+01] [-2.87330352e-02 9.99582237e-01 3.12492384e-03 1.20459063e-02] [ 9.04488576e-03 -2.86609351e-03 9.99954987e-01 -2.29312461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18719347 meters Centerline goodness : 0.874778 Centerline is valid? [False, False] Translation: X:14.97, Y:0.02, Z:-2.29 [[ 9.99320399e-01 3.58464113e-02 -8.58917791e-03 1.49650613e+01] [-3.57683177e-02 9.99318863e-01 9.07950506e-03 1.71208323e-02] [ 8.90879518e-03 -8.76611418e-03 9.99921891e-01 -2.29177948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21719347 meters Centerline goodness : 0.875797 Centerline is valid? [False, False] Translation: X:14.97, Y:0.03, Z:-2.29 [[ 9.98675886e-01 5.13772913e-02 -2.61712436e-03 1.49728716e+01] [-5.13417159e-02 9.98606469e-01 1.22125900e-02 2.87718089e-02] [ 3.24092711e-03 -1.20620514e-02 9.99921999e-01 -2.29288534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24719346999998 meters Centerline goodness : 0.878723 Centerline is valid? [False, False] Translation: X:14.97, Y:0.03, Z:-2.29 [[ 9.98445320e-01 5.56928870e-02 -2.29035587e-03 1.49722153e+01] [-5.56523730e-02 9.98337081e-01 1.50294920e-02 3.35344757e-02] [ 3.12358299e-03 -1.48786622e-02 9.99884428e-01 -2.29196530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27719347 meters Centerline goodness : 0.877105 Centerline is valid? [False, False] Translation: X:14.97, Y:0.04, Z:-2.29 [[ 9.98212641e-01 5.97191382e-02 -2.26907054e-03 1.49723148e+01] [-5.96684464e-02 9.98053786e-01 1.81195225e-02 3.63045376e-02] [ 3.34673671e-03 -1.79517445e-02 9.99833253e-01 -2.29141679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30719347 meters Centerline goodness : 0.881053 Centerline is valid? [False, False] Translation: X:14.97, Y:0.04, Z:-2.29 [[ 9.97956595e-01 6.38677736e-02 -1.88206182e-03 1.49719184e+01] [-6.38139954e-02 9.97738451e-01 2.11129667e-02 3.92175980e-02] [ 3.22624362e-03 -2.09497224e-02 9.99775325e-01 -2.29110162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33719347 meters Centerline goodness : 0.881081 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97940166e-01 6.40659297e-02 3.31381320e-03 1.49850608e+01] [-6.41367040e-02 9.97489036e-01 3.00350822e-02 3.76972131e-02] [-1.38126687e-03 -3.01857520e-02 9.99543352e-01 -2.29626902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36719347 meters Centerline goodness : 0.880504 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97850882e-01 6.54717104e-02 2.65948624e-03 1.49880465e+01] [-6.55228956e-02 9.97361638e-01 3.12492086e-02 3.84495105e-02] [-6.06530416e-04 -3.13563075e-02 9.99508086e-01 -2.29813947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39719347 meters Centerline goodness : 0.880352 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97760226e-01 6.68809761e-02 1.21079890e-03 1.49927298e+01] [-6.68848871e-02 9.97228893e-01 3.25721784e-02 3.76722580e-02] [ 9.71015436e-04 -3.25802083e-02 9.99468652e-01 -2.30060776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42719347 meters Centerline goodness : 0.882893 Centerline is valid? [False, False] Translation: X:14.99, Y:0.04, Z:-2.30 [[ 9.97737421e-01 6.72299319e-02 4.18114558e-04 1.49946638e+01] [-6.72071119e-02 9.97193609e-01 3.29865301e-02 3.60082666e-02] [ 1.80074101e-03 -3.29399957e-02 9.99455709e-01 -2.30137893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45719347 meters Centerline goodness : 0.883629 Centerline is valid? [False, False] Translation: X:15.02, Y:0.03, Z:-2.30 [[ 9.97593045e-01 6.93405746e-02 1.89672856e-05 1.50163074e+01] [-6.92909922e-02 9.96869294e-01 3.80837193e-02 3.01984326e-02] [ 2.62183907e-03 -3.79933677e-02 9.99274552e-01 -2.30340370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48719347 meters Centerline goodness : 0.883458 Centerline is valid? [False, False] Translation: X:15.02, Y:0.03, Z:-2.30 [[ 9.97502638e-01 7.05601453e-02 -3.12290570e-03 1.50229048e+01] [-7.03933809e-02 9.96809874e-01 3.76144560e-02 2.71589118e-02] [ 5.76702471e-03 -3.73006872e-02 9.99287446e-01 -2.30398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51719347 meters Centerline goodness : 0.881894 Centerline is valid? [False, False] Translation: X:15.02, Y:0.02, Z:-2.30 [[ 9.97452504e-01 7.12493522e-02 -3.46867452e-03 1.50239519e+01] [-7.10633188e-02 9.96725839e-01 3.85695056e-02 2.46421310e-02] [ 6.20536981e-03 -3.82247544e-02 9.99249899e-01 -2.30440207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54719347 meters Centerline goodness : 0.882853 Centerline is valid? [False, False] Translation: X:15.04, Y:0.02, Z:-2.30 [[ 9.97399870e-01 7.20397719e-02 -1.94157330e-03 1.50436975e+01] [-7.19011068e-02 9.96578574e-01 4.07599859e-02 2.05127922e-02] [ 4.87127044e-03 -4.05144034e-02 9.99167080e-01 -2.30493556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57719347 meters Centerline goodness : 0.879634 Centerline is valid? [False, False] Translation: X:15.07, Y:0.01, Z:-2.30 [[ 9.97528148e-01 7.02496033e-02 -1.60863916e-03 1.50709254e+01] [-7.00697198e-02 9.96171056e-01 5.22825157e-02 1.04748788e-02] [ 5.27530576e-03 -5.20405641e-02 9.98631038e-01 -2.30407909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60719347 meters Centerline goodness : 0.879263 Centerline is valid? [False, False] Translation: X:15.09, Y:0.01, Z:-2.30 [[ 9.97717235e-01 6.75273549e-02 6.13436593e-04 1.50894757e+01] [-6.74715233e-02 9.96431654e-01 5.07104820e-02 5.73139491e-03] [ 2.81309708e-03 -5.06361114e-02 9.98713207e-01 -2.30432401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63719347 meters Centerline goodness : 0.881713 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.00, Z:-2.30 [[ 9.98092666e-01 6.16735066e-02 2.72176024e-03 1.51052486e+01] [-6.17216969e-02 9.96067524e-01 6.35603595e-02 -1.29182405e-03] [ 1.20893326e-03 -6.36071204e-02 9.97974285e-01 -2.30164645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66719347 meters Centerline goodness : 0.883199 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.01, Z:-2.30 [[ 9.98339076e-01 5.76073862e-02 6.90975474e-04 1.51089759e+01] [-5.75463323e-02 9.96567115e-01 5.95181025e-02 -6.43023953e-03] [ 2.74007888e-03 -5.94590106e-02 9.98226987e-01 -2.30202028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69719347 meters Centerline goodness : 0.880654 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.98657517e-01 5.16816053e-02 -3.48930159e-03 1.51160723e+01] [-5.14281157e-02 9.97299311e-01 5.24331330e-02 -1.71239239e-02] [ 6.18970655e-03 -5.21832942e-02 9.98618341e-01 -2.30064020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72719347 meters Centerline goodness : 0.880145 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.99002575e-01 4.44806315e-02 -3.91505229e-03 1.51162529e+01] [-4.42583090e-02 9.97993903e-01 4.52699903e-02 -1.86357296e-02] [ 5.92083608e-03 -4.50515633e-02 9.98967117e-01 -2.30055866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75719347 meters Centerline goodness : 0.879164 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.99301429e-01 3.71090255e-02 -4.42420769e-03 1.51167123e+01] [-3.69149878e-02 9.98598316e-01 3.79300222e-02 -1.94217161e-02] [ 5.82555251e-03 -3.77402058e-02 9.99270604e-01 -2.30056629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78719347 meters Centerline goodness : 0.880256 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.02, Z:-2.30 [[ 9.99548371e-01 2.96427292e-02 -4.93584539e-03 1.51175555e+01] [-2.94790455e-02 9.99101141e-01 3.04613839e-02 -1.99094070e-02] [ 5.83436732e-03 -3.03021227e-02 9.99523757e-01 -2.30094809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81719347 meters Centerline goodness : 0.879572 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99806491e-01 1.88682530e-02 -5.56509445e-03 1.51179168e+01] [-1.87492642e-02 9.99609706e-01 2.07099361e-02 -2.53873797e-02] [ 5.95368274e-03 -2.06015871e-02 9.99770038e-01 -2.30056981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84719347 meters Centerline goodness : 0.874011 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99916460e-01 1.15346247e-02 -5.83313775e-03 1.51178801e+01] [-1.14551640e-02 9.99843563e-01 1.34770035e-02 -2.75268673e-02] [ 5.98767741e-03 -1.34090580e-02 9.99892167e-01 -2.29998647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87719347 meters Centerline goodness : 0.874011 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99916460e-01 1.15346247e-02 -5.83313775e-03 1.51178801e+01] [-1.14551640e-02 9.99843563e-01 1.34770035e-02 -2.75268673e-02] [ 5.98767741e-03 -1.34090580e-02 9.99892167e-01 -2.29998647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90719347 meters Centerline goodness : 0.876610 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.03, Z:-2.30 [[ 9.99952093e-01 7.82545012e-03 -5.88004775e-03 1.51174440e+01] [-7.76210450e-03 9.99912416e-01 1.07196565e-02 -3.18253975e-02] [ 5.96341888e-03 -1.06735014e-02 9.99925254e-01 -2.29932517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93719347 meters Centerline goodness : 0.875299 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.04, Z:-2.30 [[ 9.99982368e-01 1.19143119e-03 -5.81749285e-03 1.51160496e+01] [-1.16542169e-03 9.99989320e-01 4.47225796e-03 -3.54152948e-02] [ 5.82275911e-03 -4.46539927e-03 9.99973077e-01 -2.29745504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96719347 meters Centerline goodness : 0.875713 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.03, Z:-2.30 [[ 9.99998859e-01 1.51031368e-03 2.48630403e-05 1.51270353e+01] [-1.51018390e-03 9.99988360e-01 -4.58238756e-03 -3.38287210e-02] [-3.17835935e-05 4.58234478e-03 9.99989500e-01 -2.30101433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99719346999998 meters Centerline goodness : 0.878970 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.03, Z:-2.30 [[ 9.99995985e-01 8.36618484e-04 2.70723368e-03 1.51456757e+01] [-8.19987151e-04 9.99980823e-01 -6.13858352e-03 -3.38599749e-02] [-2.71231742e-03 6.13633898e-03 9.99977494e-01 -2.30080581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02719347 meters Centerline goodness : 0.875343 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.03, Z:-2.30 [[ 9.99996845e-01 5.56520063e-04 2.44949853e-03 1.51459414e+01] [-5.41772267e-04 9.99981749e-01 -6.01729223e-03 -3.49152072e-02] [-2.45280257e-03 6.01594618e-03 9.99978896e-01 -2.30035107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05719347 meters Centerline goodness : 0.873999 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99992214e-01 -3.24974557e-03 2.23869098e-03 1.51459256e+01] [ 3.27020170e-03 9.99952375e-01 -9.19530317e-03 -3.78005459e-02] [-2.20870197e-03 9.20255254e-03 9.99955216e-01 -2.29953027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08719347 meters Centerline goodness : 0.876249 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99972772e-01 -7.09936670e-03 2.01337542e-03 1.51467950e+01] [ 7.12438790e-03 9.99893904e-01 -1.27052451e-02 -3.93144668e-02] [-1.92296262e-03 1.27192432e-02 9.99917258e-01 -2.29996914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11719347 meters Centerline goodness : 0.877674 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99935431e-01 -1.12361980e-02 1.69746974e-03 1.51479480e+01] [ 1.12626903e-02 9.99800439e-01 -1.64995065e-02 -4.03135046e-02] [-1.51173927e-03 1.65175592e-02 9.99862433e-01 -2.30051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14719347 meters Centerline goodness : 0.877545 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.04, Z:-2.30 [[ 9.99887495e-01 -1.49679452e-02 9.79059421e-04 1.51521691e+01] [ 1.49841822e-02 9.99697953e-01 -1.94801881e-02 -4.02271791e-02] [-6.87185311e-04 1.94926669e-02 9.99809764e-01 -2.30400620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17719347 meters Centerline goodness : 0.874427 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.31 [[ 9.99911452e-01 -1.33050997e-02 2.51296842e-04 1.51553796e+01] [ 1.33074546e-02 9.99762887e-01 -1.72360258e-02 -3.94008091e-02] [-2.19102142e-05 1.72378437e-02 9.99851417e-01 -2.30621184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20719347 meters Centerline goodness : 0.869374 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.31 [[ 9.99925072e-01 -1.22303679e-02 -5.18551634e-04 1.51587072e+01] [ 1.22204636e-02 9.99796318e-01 -1.60618593e-02 -3.74682819e-02] [ 7.14888464e-04 1.60543189e-02 9.99870866e-01 -2.30836207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23719347 meters Centerline goodness : 0.870015 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.04, Z:-2.31 [[ 9.99937498e-01 -1.10962260e-02 -1.36853291e-03 1.51617226e+01] [ 1.10743451e-02 9.99825027e-01 -1.50756421e-02 -3.60868383e-02] [ 1.53557618e-03 1.50595443e-02 9.99885420e-01 -2.30992631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26719347 meters Centerline goodness : 0.872875 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.31 [[ 9.99961659e-01 -8.04453709e-03 3.45932311e-03 1.51741446e+01] [ 8.11767923e-03 9.99732079e-01 -2.16765500e-02 -3.37977128e-02] [-3.28401847e-03 2.17038005e-02 9.99759051e-01 -2.31432009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29719347 meters Centerline goodness : 0.865207 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.31 [[ 9.99982843e-01 -4.87124005e-03 3.25339944e-03 1.51746466e+01] [ 4.93232472e-03 9.99806571e-01 -1.90392499e-02 -3.01769282e-02] [-3.16002538e-03 1.90549701e-02 9.99813444e-01 -2.31413703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32719347 meters Centerline goodness : 0.870136 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.03, Z:-2.31 [[ 9.99968914e-01 -3.98194401e-03 6.80547216e-03 1.51923798e+01] [ 4.11694406e-03 9.99792713e-01 -1.99394656e-02 -2.60375445e-02] [-6.72466364e-03 1.99668635e-02 9.99778027e-01 -2.31418175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35719347 meters Centerline goodness : 0.867970 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.02, Z:-2.31 [[ 9.99946939e-01 -1.82936546e-03 1.01377116e-02 1.52106524e+01] [ 2.03010085e-03 9.99801383e-01 -1.98260740e-02 -2.18877468e-02] [-1.00994290e-02 1.98456026e-02 9.99752046e-01 -2.31452709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38719347 meters Centerline goodness : 0.870181 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.02, Z:-2.32 [[ 9.99924349e-01 -1.62364759e-04 1.22991957e-02 1.52304830e+01] [ 4.25622416e-04 9.99770799e-01 -2.14048690e-02 -1.66304561e-02] [-1.22929013e-02 2.14084845e-02 9.99695234e-01 -2.31600155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41719347 meters Centerline goodness : 0.869888 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.01, Z:-2.32 [[ 9.99939262e-01 5.12392609e-03 9.75800402e-03 1.52591056e+01] [-4.87162650e-03 9.99657670e-01 -2.57062213e-02 -1.21410765e-02] [-9.88638034e-03 2.56571226e-02 9.99621914e-01 -2.31537868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44719347 meters Centerline goodness : 0.867591 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.00, Z:-2.31 [[ 9.99830483e-01 1.54799211e-02 9.96883580e-03 1.52587381e+01] [-1.53085639e-02 9.99737573e-01 -1.70421021e-02 -2.90893400e-03] [-1.02300301e-02 1.68866046e-02 9.99805076e-01 -2.31465002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47719347 meters Centerline goodness : 0.867363 Centerline is valid? [False, False] Translation: X:15.24, Y:0.00, Z:-2.31 [[ 9.99812935e-01 1.65722773e-02 9.97266288e-03 1.52398508e+01] [-1.65609434e-02 9.99862116e-01 -1.21801500e-03 2.10448385e-03] [-9.99147309e-03 1.05263044e-03 9.99949530e-01 -2.31359811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50719347 meters Centerline goodness : 0.866646 Centerline is valid? [False, False] Translation: X:15.24, Y:0.01, Z:-2.31 [[ 9.99741849e-01 2.04532989e-02 9.89433977e-03 1.52404966e+01] [-2.04702814e-02 9.99789152e-01 1.61815350e-03 6.75913633e-03] [-9.85915699e-03 -1.82027569e-03 9.99949741e-01 -2.31386017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53719347 meters Centerline goodness : 0.865690 Centerline is valid? [False, False] Translation: X:15.24, Y:0.01, Z:-2.31 [[ 9.99651420e-01 2.44187922e-02 1.00379510e-02 1.52407030e+01] [-2.44563875e-02 9.99694272e-01 3.63976503e-03 1.40214921e-02] [-9.94600345e-03 -3.88398830e-03 9.99942994e-01 -2.31397568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56719347 meters Centerline goodness : 0.864183 Centerline is valid? [False, False] Translation: X:15.23, Y:0.02, Z:-2.32 [[ 9.99601036e-01 2.52624089e-02 1.26324795e-02 1.52317803e+01] [-2.54176336e-02 9.99601469e-01 1.22819790e-02 1.63033369e-02] [-1.23171727e-02 -1.25981667e-02 9.99844775e-01 -2.31555475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59719347 meters Centerline goodness : 0.864361 Centerline is valid? [False, False] Translation: X:15.23, Y:0.02, Z:-2.32 [[ 9.99514840e-01 2.84799846e-02 1.26085709e-02 1.52323195e+01] [-2.86744226e-02 9.99468333e-01 1.55186642e-02 1.74789560e-02] [-1.21598960e-02 -1.58726787e-02 9.99800078e-01 -2.31586617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62719347 meters Centerline goodness : 0.863197 Centerline is valid? [False, False] Translation: X:15.23, Y:0.02, Z:-2.32 [[ 9.99442568e-01 3.09564764e-02 1.25000292e-02 1.52330954e+01] [-3.11818422e-02 9.99346995e-01 1.82558520e-02 1.90212197e-02] [-1.19267298e-02 -1.86354495e-02 9.99755207e-01 -2.31631954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65719347 meters Centerline goodness : 0.860523 Centerline is valid? [False, False] Translation: X:15.21, Y:0.02, Z:-2.32 [[ 9.99554487e-01 2.62137910e-02 1.42711312e-02 1.52122100e+01] [-2.66411012e-02 9.99175859e-01 3.06244177e-02 2.13984377e-02] [-1.34565876e-02 -3.09909727e-02 9.99429077e-01 -2.31598995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68719347 meters Centerline goodness : 0.860315 Centerline is valid? [False, False] Translation: X:15.21, Y:0.02, Z:-2.32 [[ 0.99952777 0.02526289 0.01749338 15.2069052 ] [-0.02581413 0.99915326 0.03203751 0.02120757] [-0.0166692 -0.03247396 0.99933357 -2.31708463] [ 0. 0. 0. 1. ]] SLAMing on 163.71719347 meters Centerline goodness : 0.858842 Centerline is valid? [False, False] Translation: X:15.21, Y:0.02, Z:-2.32 [[ 0.99953532 0.02495389 0.01750546 15.20705328] [-0.02550591 0.99916066 0.03205353 0.0204085 ] [-0.01669091 -0.03248513 0.99933284 -2.3171384 ] [ 0. 0. 0. 1. ]] SLAMing on 163.74719346999998 meters Centerline goodness : 0.859608 Centerline is valid? [False, False] Translation: X:15.20, Y:0.02, Z:-2.32 [[ 0.99954273 0.02286975 0.01978155 15.19905928] [-0.02362692 0.99896259 0.03892946 0.01867697] [-0.01887072 -0.03937903 0.99904614 -2.31988788] [ 0. 0. 0. 1. ]] SLAMing on 163.77719347 meters Centerline goodness : 0.858536 Centerline is valid? [False, False] Translation: X:15.18, Y:0.02, Z:-2.32 [[ 9.99602340e-01 2.35977005e-02 1.54373017e-02 1.51845442e+01] [-2.41549019e-02 9.99024656e-01 3.69631790e-02 1.94431139e-02] [-1.45499990e-02 -3.73213667e-02 9.99197384e-01 -2.32192264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80719347 meters Centerline goodness : 0.858245 Centerline is valid? [False, False] Translation: X:15.19, Y:0.02, Z:-2.32 [[ 9.99593913e-01 2.40985341e-02 1.52075717e-02 1.51855548e+01] [-2.46495939e-02 9.99005510e-01 3.71535767e-02 1.99248701e-02] [-1.42971012e-02 -3.75133495e-02 9.99193846e-01 -2.32257470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83719347 meters Centerline goodness : 0.859073 Centerline is valid? [False, False] Translation: X:15.16, Y:0.02, Z:-2.32 [[ 0.99950777 0.02678463 0.01633419 15.16389497] [-0.02742455 0.99881121 0.04029971 0.01933011] [-0.01523536 -0.04072784 0.99905412 -2.32129099] [ 0. 0. 0. 1. ]] SLAMing on 163.86719347 meters Centerline goodness : 0.859338 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-2.32 [[ 0.99950433 0.02642645 0.01710976 15.13901655] [-0.02736382 0.99799388 0.05709141 0.01668398] [-0.01556671 -0.0575313 0.99822233 -2.31746701] [ 0. 0. 0. 1. ]] SLAMing on 163.89719347 meters Centerline goodness : 0.860140 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-2.32 [[ 0.99951149 0.02625414 0.01695585 15.13959836] [-0.0271752 0.99802747 0.05659215 0.01737051] [-0.01543663 -0.05702529 0.99825339 -2.31764216] [ 0. 0. 0. 1. ]] SLAMing on 163.92719347 meters Centerline goodness : 0.859561 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-2.32 [[ 9.99484709e-01 2.75546154e-02 1.64638740e-02 1.51416593e+01] [-2.84666661e-02 9.97910451e-01 5.80032863e-02 1.60370913e-02] [-1.48312136e-02 -5.84420694e-02 9.98180625e-01 -2.31890950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95719347 meters Centerline goodness : 0.860460 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99471261e-01 2.82265544e-02 1.61387906e-02 1.51426789e+01] [-2.91268224e-02 9.97858009e-01 5.85749312e-02 1.49549087e-02] [-1.44508529e-02 -5.90140320e-02 9.98152552e-01 -2.31943231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98719347 meters Centerline goodness : 0.858080 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99461775e-01 2.85401514e-02 1.61746709e-02 1.51430034e+01] [-2.94429877e-02 9.97844854e-01 5.86409181e-02 1.38840571e-02] [-1.44661914e-02 -5.90855867e-02 9.98148097e-01 -2.31966537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01719347 meters Centerline goodness : 0.865243 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99431143e-01 2.94167816e-02 1.64937471e-02 1.51431183e+01] [-3.03632756e-02 9.97711125e-01 6.04200512e-02 9.87452736e-03] [-1.46786315e-02 -6.08864850e-02 9.98036760e-01 -2.31960752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04719347 meters Centerline goodness : 0.864058 Centerline is valid? [False, False] Translation: X:15.14, Y:0.01, Z:-2.32 [[ 9.99514514e-01 2.67094864e-02 1.60418329e-02 1.51442564e+01] [-2.75832899e-02 9.97994515e-01 5.69746464e-02 1.03983436e-02] [-1.44878977e-02 -5.73894725e-02 9.98246738e-01 -2.32002663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07719347 meters Centerline goodness : 0.866483 Centerline is valid? [False, False] Translation: X:15.15, Y:0.01, Z:-2.32 [[ 9.99495931e-01 2.61315283e-02 1.80284955e-02 1.51524862e+01] [-2.73053014e-02 9.97293412e-01 6.82661826e-02 6.08490502e-03] [-1.61958001e-02 -6.87240453e-02 9.97504236e-01 -2.31923806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10719347 meters Centerline goodness : 0.865445 Centerline is valid? [False, False] Translation: X:15.15, Y:0.00, Z:-2.32 [[ 9.99479793e-01 2.68730885e-02 1.78320011e-02 1.51533651e+01] [-2.80552308e-02 9.97170710e-01 6.97386444e-02 2.58876934e-03] [-1.59074564e-02 -7.02026468e-02 9.97405906e-01 -2.31930899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13719347 meters Centerline goodness : 0.864784 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.02, Z:-2.30 [[ 9.99610068e-01 2.46249200e-02 1.31652891e-02 1.51679223e+01] [-2.60819133e-02 9.91779427e-01 1.25272909e-01 -2.27377304e-02] [-9.97222749e-03 -1.25567437e-01 9.92034966e-01 -2.30409457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16719347 meters Centerline goodness : 0.864384 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.30 [[ 9.99673461e-01 2.19857127e-02 1.30230701e-02 1.51689541e+01] [-2.34298149e-02 9.92037712e-01 1.23742559e-01 -2.50104743e-02] [-1.01988083e-02 -1.24007281e-01 9.92228894e-01 -2.30343060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19719347 meters Centerline goodness : 0.864454 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.30 [[ 9.99752226e-01 1.84686338e-02 1.24256087e-02 1.51707914e+01] [-1.98323058e-02 9.92518706e-01 1.20471152e-01 -2.65601474e-02] [-1.01077115e-02 -1.20687731e-01 9.92639061e-01 -2.30411281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22719347 meters Centerline goodness : 0.864634 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.03, Z:-2.30 [[ 9.99829698e-01 1.47166618e-02 1.11352977e-02 1.51725522e+01] [-1.59314950e-02 9.92849617e-01 1.18303953e-01 -2.86051764e-02] [-9.31463676e-03 -1.18461207e-01 9.92914991e-01 -2.30236325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25719347 meters Centerline goodness : 0.865401 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.04, Z:-2.30 [[ 9.99937938e-01 7.29656081e-03 8.41908140e-03 1.51823275e+01] [-8.12955736e-03 9.94588809e-01 1.03571288e-01 -3.59214811e-02] [-7.61780994e-03 -1.03633303e-01 9.94586400e-01 -2.29983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28719347 meters Centerline goodness : 0.864836 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.04, Z:-2.30 [[ 9.99938541e-01 4.85493465e-03 9.96712043e-03 1.51827970e+01] [-5.69713678e-03 9.96253982e-01 8.62875757e-02 -3.75606254e-02] [-9.51086288e-03 -8.63390566e-02 9.96220413e-01 -2.29975017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31719347 meters Centerline goodness : 0.863971 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.04, Z:-2.30 [[ 9.99914463e-01 -1.03943966e-03 1.30378666e-02 1.51772169e+01] [ 7.22723417e-05 9.97260946e-01 7.39635133e-02 -3.96354831e-02] [-1.30790358e-02 -7.39562444e-02 9.97175718e-01 -2.30331607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34719347 meters Centerline goodness : 0.867197 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.05, Z:-2.30 [[ 9.99889589e-01 -1.11765649e-02 9.79257670e-03 1.51851573e+01] [ 1.05406259e-02 9.97973790e-01 6.27471960e-02 -4.55330837e-02] [-1.04740330e-02 -6.26370481e-02 9.97981410e-01 -2.30473530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37719347 meters Centerline goodness : 0.865463 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.05, Z:-2.31 [[ 9.99831552e-01 -1.61661410e-02 8.69043718e-03 1.51894886e+01] [ 1.56337555e-02 9.98183405e-01 5.81848388e-02 -4.69552980e-02] [-9.61527448e-03 -5.80391735e-02 9.98268001e-01 -2.30755332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40719347 meters Centerline goodness : 0.867415 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.05, Z:-2.31 [[ 9.99812254e-01 -1.89943281e-02 3.83054837e-03 1.52004197e+01] [ 1.87781880e-02 9.98561898e-01 5.02147012e-02 -4.73711925e-02] [-4.77883416e-03 -5.01333428e-02 9.98731100e-01 -2.30736480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43719347 meters Centerline goodness : 0.868286 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.05, Z:-2.31 [[ 9.99742487e-01 -2.17277444e-02 6.54715274e-03 1.52117780e+01] [ 2.14712924e-02 9.99085346e-01 3.69791069e-02 -4.59337180e-02] [-7.34463694e-03 -3.68290085e-02 9.99294591e-01 -2.30998440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46719347 meters Centerline goodness : 0.866195 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.04, Z:-2.31 [[ 9.99575981e-01 -2.71746987e-02 1.04591218e-02 1.52226692e+01] [ 2.69526133e-02 9.99419893e-01 2.08191011e-02 -4.32716161e-02] [-1.10188072e-02 -2.05283728e-02 9.99728549e-01 -2.31265063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49719346999998 meters Centerline goodness : 0.866172 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.04, Z:-2.31 [[ 9.99460611e-01 -3.12094089e-02 1.02206020e-02 1.52237272e+01] [ 3.10406647e-02 9.99385654e-01 1.62724187e-02 -4.10146719e-02] [-1.07221756e-02 -1.59463873e-02 9.99815357e-01 -2.31318405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52719347 meters Centerline goodness : 0.866163 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.04, Z:-2.31 [[ 9.99332139e-01 -3.51441705e-02 1.00081150e-02 1.52246608e+01] [ 3.50262407e-02 9.99317616e-01 1.17245442e-02 -3.86736552e-02] [-1.04133350e-02 -1.13661672e-02 9.99881179e-01 -2.31361869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55719347 meters Centerline goodness : 0.864912 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.04, Z:-2.32 [[ 9.99251784e-01 -3.58844280e-02 1.44284329e-02 1.52370839e+01] [ 3.58771698e-02 9.99355917e-01 7.61654325e-04 -3.55743882e-02] [-1.44464713e-02 -2.43433105e-04 9.99895615e-01 -2.31775896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58719347 meters Centerline goodness : 0.866187 Centerline is valid? [False, False] Translation: X:15.25, Y:-0.03, Z:-2.32 [[ 9.99181125e-01 -3.49621112e-02 2.03649088e-02 1.52474509e+01] [ 3.51384529e-02 9.99347433e-01 -8.36649458e-03 -3.06710427e-02] [-2.00591091e-02 9.07523486e-03 9.99757607e-01 -2.32148393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61719347 meters Centerline goodness : 0.865027 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.03, Z:-2.33 [[ 9.99127410e-01 -3.27450778e-02 2.59263898e-02 1.52615139e+01] [ 3.31047312e-02 9.99359809e-01 -1.35664747e-02 -2.60110652e-02] [-2.54655567e-02 1.44129229e-02 9.99571795e-01 -2.32587559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64719347 meters Centerline goodness : 0.867240 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.02, Z:-2.33 [[ 9.99231765e-01 -2.96748342e-02 2.55985196e-02 1.52620972e+01] [ 2.99588949e-02 9.99492941e-01 -1.07854741e-02 -2.30568390e-02] [-2.52654825e-02 1.15440917e-02 9.99614120e-01 -2.32591574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67719347 meters Centerline goodness : 0.865685 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.02, Z:-2.32 [[ 0.9993902 -0.02527414 0.0240924 15.28846857] [ 0.02567288 0.99953607 -0.01638736 -0.01770827] [-0.02366705 0.01699588 0.99957542 -2.32432986] [ 0. 0. 0. 1. ]] SLAMing on 164.70719347 meters Centerline goodness : 0.866264 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.02, Z:-2.32 [[ 9.99521986e-01 -1.92828720e-02 2.41654973e-02 1.52874213e+01] [ 1.95426771e-02 9.99753240e-01 -1.05614064e-02 -1.51078520e-02] [-2.39558800e-02 1.10286164e-02 9.99652182e-01 -2.32298108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73719347 meters Centerline goodness : 0.862809 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.01, Z:-2.32 [[ 9.99643913e-01 -1.24293616e-02 2.36126770e-02 1.52881620e+01] [ 1.25710852e-02 9.99903791e-01 -5.86307953e-03 -8.61594181e-03] [-2.35375309e-02 6.15782874e-03 9.99703989e-01 -2.32180377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76719347 meters Centerline goodness : 0.862809 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.01, Z:-2.32 [[ 9.99643913e-01 -1.24293616e-02 2.36126770e-02 1.52881620e+01] [ 1.25710852e-02 9.99903791e-01 -5.86307953e-03 -8.61594181e-03] [-2.35375309e-02 6.15782874e-03 9.99703989e-01 -2.32180377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79719347 meters Centerline goodness : 0.861926 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.01, Z:-2.32 [[ 9.99691723e-01 -9.99085893e-03 2.27297491e-02 1.52912057e+01] [ 1.00870588e-02 9.99940630e-01 -4.12162021e-03 -6.06102378e-03] [-2.26872211e-02 4.34962592e-03 9.99733150e-01 -2.32360381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82719347 meters Centerline goodness : 0.863422 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.00, Z:-2.33 [[ 9.99737403e-01 -7.27590876e-03 2.17298353e-02 1.52945670e+01] [ 7.31994277e-03 9.99971312e-01 -1.94757811e-03 -3.44994434e-03] [-2.17150415e-02 2.10612783e-03 9.99761982e-01 -2.32568759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85719347 meters Centerline goodness : 0.864203 Centerline is valid? [False, False] Translation: X:15.30, Y:0.00, Z:-2.33 [[ 9.99747543e-01 -6.85854468e-03 2.13964925e-02 1.52958299e+01] [ 6.92985354e-03 9.99970673e-01 -3.26037145e-03 1.09637182e-03] [-2.13735036e-02 3.40782291e-03 9.99765753e-01 -2.32609347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88719347 meters Centerline goodness : 0.864287 Centerline is valid? [False, False] Translation: X:15.30, Y:0.01, Z:-2.33 [[ 9.99791093e-01 -9.44965853e-04 2.04175889e-02 1.52991876e+01] [ 9.11815500e-04 9.99998251e-01 1.63286590e-03 6.46185505e-03] [-2.04190962e-02 -1.61390771e-03 9.99790206e-01 -2.32804845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91719347 meters Centerline goodness : 0.861883 Centerline is valid? [False, False] Translation: X:15.30, Y:0.01, Z:-2.32 [[ 9.99971745e-01 1.54553385e-03 7.35670977e-03 1.52986722e+01] [-1.54540902e-03 9.99998806e-01 -2.26531597e-05 9.93499603e-03] [-7.35673599e-03 1.12833940e-05 9.99972939e-01 -2.32360934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94719347 meters Centerline goodness : 0.865073 Centerline is valid? [False, False] Translation: X:15.30, Y:0.01, Z:-2.33 [[ 9.99971119e-01 3.67354742e-03 6.65332679e-03 1.53015934e+01] [-3.68648100e-03 9.99991337e-01 1.93270805e-03 1.23833571e-02] [-6.64616926e-03 -1.95717959e-03 9.99975999e-01 -2.32564381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97719347 meters Centerline goodness : 0.863541 Centerline is valid? [False, False] Translation: X:15.30, Y:0.02, Z:-2.33 [[ 9.99928102e-01 1.02338439e-02 6.24978985e-03 1.53032741e+01] [-1.02855403e-02 9.99912685e-01 8.29634545e-03 1.57656354e-02] [-6.16434065e-03 -8.36003143e-03 9.99946054e-01 -2.32668747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00719347 meters Centerline goodness : 0.863682 Centerline is valid? [False, False] Translation: X:15.30, Y:0.02, Z:-2.33 [[ 9.99931280e-01 1.01541858e-02 5.85906969e-03 1.53044445e+01] [-1.01983518e-02 9.99919431e-01 7.55808174e-03 1.79419658e-02] [-5.78185146e-03 -7.61731520e-03 9.99954272e-01 -2.32729922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03719347 meters Centerline goodness : 0.864988 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99931055e-01 1.03239736e-02 5.59467839e-03 1.53050808e+01] [-1.03645002e-02 9.99919903e-01 7.26386833e-03 1.91440216e-02] [-5.51923829e-03 -7.32135357e-03 9.99957967e-01 -2.32749683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06719347 meters Centerline goodness : 0.867634 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99930454e-01 1.04823376e-02 5.40442943e-03 1.53056195e+01] [-1.05200071e-02 9.99920235e-01 6.98944845e-03 1.98078420e-02] [-5.33073259e-03 -7.04581700e-03 9.99960969e-01 -2.32777562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09719347 meters Centerline goodness : 0.863700 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99874267e-01 1.48295365e-02 5.61567271e-03 1.53051874e+01] [-1.48891403e-02 9.99831629e-01 1.07250880e-02 2.12018773e-02] [-5.45567911e-03 -1.08073520e-02 9.99926716e-01 -2.32725589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12719347 meters Centerline goodness : 0.868228 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99875264e-01 1.47939611e-02 5.53137859e-03 1.53054543e+01] [-1.48484692e-02 9.99840281e-01 9.94667777e-03 2.35487661e-02] [-5.38334435e-03 -1.00275696e-02 9.99935232e-01 -2.32749408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15719347 meters Centerline goodness : 0.868172 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99878532e-01 1.46483515e-02 5.32415954e-03 1.53059805e+01] [-1.46982915e-02 9.99847175e-01 9.46500140e-03 2.47203787e-02] [-5.18469921e-03 -9.54210776e-03 9.99941032e-01 -2.32773222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18719347 meters Centerline goodness : 0.866422 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99873830e-01 1.50987522e-02 4.93467530e-03 1.53075682e+01] [-1.51472410e-02 9.99835854e-01 9.94111123e-03 2.42676140e-02] [-4.78376692e-03 -1.00146037e-02 9.99938410e-01 -2.32877319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21719347 meters Centerline goodness : 0.869807 Centerline is valid? [False, False] Translation: X:15.31, Y:0.02, Z:-2.33 [[ 9.99929054e-01 1.16395967e-02 2.53105823e-03 1.53092049e+01] [-1.16989560e-02 9.99622472e-01 2.48605878e-02 1.84387565e-02] [-2.24073547e-03 -2.48884347e-02 9.99687724e-01 -2.32892104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24719346999998 meters Centerline goodness : 0.869946 Centerline is valid? [False, False] Translation: X:15.30, Y:0.02, Z:-2.33 [[ 9.99936395e-01 1.03895595e-02 4.38894872e-03 1.53040614e+01] [-1.05282706e-02 9.99404450e-01 3.28618552e-02 1.54028012e-02] [-4.04491468e-03 -3.29059731e-02 9.99450267e-01 -2.33332090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27719347 meters Centerline goodness : 0.870398 Centerline is valid? [False, False] Translation: X:15.31, Y:0.01, Z:-2.33 [[ 9.99936831e-01 1.05186392e-02 3.96123178e-03 1.53054685e+01] [-1.06446312e-02 9.99390185e-01 3.32558270e-02 1.44816982e-02] [-3.60901012e-03 -3.32958921e-02 9.99439022e-01 -2.33404736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30719347 meters Centerline goodness : 0.870084 Centerline is valid? [False, False] Translation: X:15.31, Y:0.01, Z:-2.33 [[ 9.99920360e-01 1.22301848e-02 3.11381616e-03 1.53080272e+01] [-1.23331864e-02 9.99291997e-01 3.55443022e-02 1.09713769e-02] [-2.67689819e-03 -3.55798748e-02 9.99363251e-01 -2.33479474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33719347 meters Centerline goodness : 0.871143 Centerline is valid? [False, False] Translation: X:15.32, Y:0.01, Z:-2.34 [[ 9.99908287e-01 1.24542336e-02 5.32070210e-03 1.53176824e+01] [-1.26927562e-02 9.98793733e-01 4.74338866e-02 5.46728690e-03] [-4.72353120e-03 -4.74970707e-02 9.98860209e-01 -2.33513234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36719347 meters Centerline goodness : 0.870480 Centerline is valid? [False, False] Translation: X:15.32, Y:0.00, Z:-2.33 [[ 9.99938582e-01 9.92373469e-03 4.93478569e-03 1.53182251e+01] [-1.01336084e-02 9.98958047e-01 4.44986594e-02 3.41852467e-03] [-4.48805099e-03 -4.45459335e-02 9.98997256e-01 -2.33487228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39719347 meters Centerline goodness : 0.873853 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.00, Z:-2.33 [[ 9.99929340e-01 9.57180445e-03 7.04945698e-03 1.53343884e+01] [-9.99704656e-03 9.97964305e-01 6.29865540e-02 -4.36461908e-03] [-6.43221146e-03 -6.30525772e-02 9.97989478e-01 -2.33279866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42719347 meters Centerline goodness : 0.875139 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.01, Z:-2.33 [[ 9.99885039e-01 1.07667028e-02 1.06764790e-02 1.53503048e+01] [-1.14658283e-02 9.97636965e-01 6.77423185e-02 -1.00842370e-02] [-9.92188872e-03 -6.78569454e-02 9.97645724e-01 -2.32876035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45719347 meters Centerline goodness : 0.874579 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.01, Z:-2.33 [[ 9.99889950e-01 1.06362758e-02 1.03420382e-02 1.53507766e+01] [-1.13217424e-02 9.97576446e-01 6.86516740e-02 -1.28165631e-02] [-9.58677559e-03 -6.87612088e-02 9.97587084e-01 -2.32791342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48719347 meters Centerline goodness : 0.873909 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.01, Z:-2.33 [[ 9.99897337e-01 9.21195887e-03 1.09752077e-02 1.53590077e+01] [-9.81858736e-03 9.98350629e-01 5.65651644e-02 -1.47248476e-02] [-1.04360295e-02 -5.66671183e-02 9.98338583e-01 -2.32620615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51719347 meters Centerline goodness : 0.873473 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.02, Z:-2.33 [[ 9.99941387e-01 7.24622261e-03 8.04457902e-03 1.53525471e+01] [-7.58629827e-03 9.99042787e-01 4.30808352e-02 -1.65038438e-02] [-7.72470532e-03 -4.31393387e-02 9.99039202e-01 -2.32682993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54719347 meters Centerline goodness : 0.874737 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.02, Z:-2.33 [[ 9.99991569e-01 3.38301165e-03 2.32731472e-03 1.53505304e+01] [-3.44263742e-03 9.99653102e-01 2.61117704e-02 -2.17895629e-02] [-2.23817095e-03 -2.61195624e-02 9.99656320e-01 -2.32705719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57719347 meters Centerline goodness : 0.876032 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.03, Z:-2.33 [[ 9.99993949e-01 2.49135015e-03 -2.42789357e-03 1.53598028e+01] [-2.43794062e-03 9.99760286e-01 2.17583974e-02 -2.51285967e-02] [ 2.48151936e-03 -2.17523467e-02 9.99760310e-01 -2.32608368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60719347 meters Centerline goodness : 0.880803 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.03, Z:-2.33 [[ 9.99989873e-01 9.42736705e-04 -4.40057674e-03 1.53638526e+01] [-8.52919921e-04 9.99792194e-01 2.03676746e-02 -3.19519238e-02] [ 4.41886362e-03 -2.03637150e-02 9.99782873e-01 -2.32644392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63719347 meters Centerline goodness : 0.879894 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.03, Z:-2.33 [[ 9.99977406e-01 4.01499551e-03 -5.39150146e-03 1.53808416e+01] [-3.97411029e-03 9.99963430e-01 7.57269346e-03 -3.33331201e-02] [ 5.42170862e-03 -7.55109594e-03 9.99956792e-01 -2.32524356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66719347 meters Centerline goodness : 0.879863 Centerline is valid? [False, False] Translation: X:15.39, Y:-0.03, Z:-2.33 [[ 9.99987326e-01 4.88053053e-03 -1.23603071e-03 1.53913336e+01] [-4.88379401e-03 9.99984560e-01 -2.65118421e-03 -3.33973362e-02] [ 1.22307244e-03 2.65718713e-03 9.99995722e-01 -2.32842766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69719347 meters Centerline goodness : 0.880671 Centerline is valid? [False, False] Translation: X:15.40, Y:-0.03, Z:-2.33 [[ 9.99980497e-01 5.86701285e-03 2.14096405e-03 1.54034527e+01] [-5.84082581e-03 9.99910466e-01 -1.20392751e-02 -3.39567030e-02] [-2.21140695e-03 1.20265353e-02 9.99925233e-01 -2.33212599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72719347 meters Centerline goodness : 0.880130 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.04, Z:-2.33 [[ 9.99988308e-01 4.63459603e-03 1.37986489e-03 1.54060978e+01] [-4.61684959e-03 9.99909986e-01 -1.25977864e-02 -4.02239797e-02] [-1.43812633e-03 1.25912685e-02 9.99919693e-01 -2.33377130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75719347 meters Centerline goodness : 0.884313 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.04, Z:-2.33 [[ 9.99987019e-01 2.17819549e-03 4.60623825e-03 1.54241465e+01] [-2.10010409e-03 9.99855134e-01 -1.68908143e-02 -4.20367037e-02] [-4.64236246e-03 1.68809214e-02 9.99846730e-01 -2.33411844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78719347 meters Centerline goodness : 0.885590 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.05, Z:-2.33 [[ 9.99982289e-01 4.11876844e-03 4.29610663e-03 1.54509191e+01] [-4.01442352e-03 9.99703407e-01 -2.40204503e-02 -4.63008280e-02] [-4.39376711e-03 2.40027785e-02 9.99702236e-01 -2.33190882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81719347 meters Centerline goodness : 0.888649 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.05, Z:-2.33 [[ 9.99983608e-01 4.15804873e-03 3.93620430e-03 1.54513177e+01] [-4.06769239e-03 9.99734242e-01 -2.26913979e-02 -5.17230392e-02] [-4.02951016e-03 2.26750147e-02 9.99734768e-01 -2.33146780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84719347 meters Centerline goodness : 0.889229 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.06, Z:-2.33 [[ 9.99992160e-01 1.23848183e-03 3.76105917e-03 1.54521631e+01] [-1.14962280e-03 9.99722305e-01 -2.35370184e-02 -6.17626482e-02] [-3.78916492e-03 2.35325101e-02 9.99715891e-01 -2.33212145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87719347 meters Centerline goodness : 0.888759 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.07, Z:-2.33 [[ 9.99992493e-01 -1.80651765e-03 3.42794574e-03 1.54536468e+01] [ 1.89391865e-03 9.99668753e-01 -2.56670292e-02 -6.62522095e-02] [-3.38044230e-03 2.56733287e-02 9.99664670e-01 -2.33321341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90719347 meters Centerline goodness : 0.890422 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.07, Z:-2.33 [[ 9.99980964e-01 -5.28502233e-03 3.18445894e-03 1.54546208e+01] [ 5.37323383e-03 9.99583332e-01 -2.83600203e-02 -6.98902755e-02] [-3.03324873e-03 2.83765913e-02 9.99592701e-01 -2.33389487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93719347 meters Centerline goodness : 0.890432 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.08, Z:-2.33 [[ 9.99931721e-01 -1.16795354e-02 3.76865981e-04 1.54600872e+01] [ 1.16855227e-02 9.99531227e-01 -2.82979692e-02 -7.88057196e-02] [-4.61821841e-05 2.83004409e-02 9.99599461e-01 -2.33169611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96719347 meters Centerline goodness : 0.892599 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.08, Z:-2.33 [[ 9.99864435e-01 -1.60115811e-02 3.83936516e-03 1.54707422e+01] [ 1.60899683e-02 9.99642835e-01 -2.13380977e-02 -8.44583852e-02] [-3.49633720e-03 2.13969802e-02 9.99764945e-01 -2.33366204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99719346999998 meters Centerline goodness : 0.890667 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.09, Z:-2.33 [[ 9.99793066e-01 -2.00424138e-02 3.48241694e-03 1.54721785e+01] [ 2.01224399e-02 9.99492200e-01 -2.47068845e-02 -8.69218137e-02] [-2.98546297e-03 2.47718465e-02 9.99688673e-01 -2.33442203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02719347 meters Centerline goodness : 0.894958 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.09, Z:-2.34 [[ 9.99702590e-01 -2.41834517e-02 3.14503121e-03 1.54738063e+01] [ 2.42633438e-02 9.99299408e-01 -2.84953291e-02 -8.83546694e-02] [-2.45371241e-03 2.85631633e-02 9.99588978e-01 -2.33546804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05719347 meters Centerline goodness : 0.890239 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.09, Z:-2.34 [[ 9.99590589e-01 -2.85353173e-02 2.09530966e-03 1.54793392e+01] [ 2.85879025e-02 9.99075849e-01 -3.20964277e-02 -8.97943944e-02] [-1.17749153e-03 3.21431875e-02 9.99482581e-01 -2.33967138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08719347 meters Centerline goodness : 0.888636 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.09, Z:-2.34 [[ 9.99572508e-01 -2.91969988e-02 1.52829777e-03 1.54813403e+01] [ 2.92312394e-02 9.99045209e-01 -3.24685247e-02 -8.96007449e-02] [-5.78855084e-04 3.24993188e-02 9.99471590e-01 -2.34086459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11719347 meters Centerline goodness : 0.888140 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.09, Z:-2.34 [[ 9.99507481e-01 -3.10020872e-02 4.86473350e-03 1.54914762e+01] [ 3.11088520e-02 9.99235751e-01 -2.36675663e-02 -9.08189000e-02] [-4.12727167e-03 2.38072458e-02 9.99708048e-01 -2.34258976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14719347 meters Centerline goodness : 0.890842 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.09, Z:-2.34 [[ 9.99594472e-01 -2.81401686e-02 4.36154308e-03 1.54923307e+01] [ 2.82214856e-02 9.99404320e-01 -1.98633708e-02 -9.23374608e-02] [-3.79998639e-03 1.99784049e-02 9.99793190e-01 -2.34237275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17719347 meters Centerline goodness : 0.885148 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.09, Z:-2.34 [[ 9.99621232e-01 -2.62349125e-02 8.31394709e-03 1.55091075e+01] [ 2.64067829e-02 9.99424649e-01 -2.12850373e-02 -8.83669510e-02] [-7.75075256e-03 2.14965198e-02 9.99738879e-01 -2.34219338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20719347 meters Centerline goodness : 0.884509 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.09, Z:-2.34 [[ 9.99709565e-01 -2.27662064e-02 7.90473412e-03 1.55095083e+01] [ 2.29044160e-02 9.99578154e-01 -1.78578109e-02 -8.66072285e-02] [-7.49484494e-03 1.80336777e-02 9.99809289e-01 -2.34164475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23719347 meters Centerline goodness : 0.884123 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.08, Z:-2.34 [[ 9.99790588e-01 -1.90913957e-02 7.36871569e-03 1.55099503e+01] [ 1.91967563e-02 9.99710535e-01 -1.45027821e-02 -8.44201439e-02] [-7.08970436e-03 1.46412005e-02 9.99867677e-01 -2.34092441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26719347 meters Centerline goodness : 0.885173 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.08, Z:-2.34 [[ 9.99939292e-01 -9.42119561e-03 5.71423834e-03 1.55386692e+01] [ 9.52713688e-03 9.99777777e-01 -1.88050458e-02 -7.77416949e-02] [-5.53580249e-03 1.88583445e-02 9.99806840e-01 -2.34023123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29719347 meters Centerline goodness : 0.881683 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.08, Z:-2.34 [[ 9.99968306e-01 -5.95686740e-03 5.28230175e-03 1.55399331e+01] [ 6.03944688e-03 9.99857602e-01 -1.57575828e-02 -7.54471691e-02] [-5.18768373e-03 1.57889856e-02 9.99861888e-01 -2.34079691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32719347 meters Centerline goodness : 0.880848 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.07, Z:-2.34 [[ 9.99979742e-01 -2.26410445e-03 5.94887238e-03 1.55608541e+01] [ 2.35299245e-03 9.99885059e-01 -1.49777256e-02 -7.35556727e-02] [-5.91427747e-03 1.49914199e-02 9.99870131e-01 -2.34223723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35719347 meters Centerline goodness : 0.876406 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.07, Z:-2.34 [[ 9.99965397e-01 -6.36504018e-04 8.29455654e-03 1.55791834e+01] [ 7.79217153e-04 9.99851528e-01 -1.72137804e-02 -7.08518684e-02] [-8.28236839e-03 1.72196480e-02 9.99817426e-01 -2.34295263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38719347 meters Centerline goodness : 0.881651 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.07, Z:-2.35 [[ 9.99956242e-01 1.26017303e-03 9.26965977e-03 1.56007990e+01] [-1.07327576e-03 9.99796600e-01 -2.01396726e-02 -6.60724768e-02] [-9.29315379e-03 2.01288425e-02 9.99754203e-01 -2.34627251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41719347 meters Centerline goodness : 0.884213 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.07, Z:-2.35 [[ 9.99957795e-01 3.01230985e-03 8.67956951e-03 1.56231810e+01] [-2.83902188e-03 9.99797772e-01 -1.99086620e-02 -6.52562667e-02] [-8.73778532e-03 1.98831802e-02 9.99764127e-01 -2.34812215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44719347 meters Centerline goodness : 0.878712 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.06, Z:-2.35 [[ 9.99961241e-01 2.87568030e-03 8.32150775e-03 1.56242248e+01] [-2.70789279e-03 9.99794215e-01 -2.01046125e-02 -6.43375035e-02] [-8.37760974e-03 2.00812996e-02 9.99763251e-01 -2.34855872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47719347 meters Centerline goodness : 0.878045 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.06, Z:-2.35 [[ 9.99963351e-01 2.81432133e-03 8.08560492e-03 1.56249770e+01] [-2.65055926e-03 9.99792580e-01 -2.01933508e-02 -6.38848782e-02] [-8.14075839e-03 2.01711794e-02 9.99763398e-01 -2.34883870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50719347 meters Centerline goodness : 0.879197 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.06, Z:-2.35 [[ 9.99955707e-01 3.56738205e-03 8.70962571e-03 1.56468899e+01] [-3.38243234e-03 9.99770417e-01 -2.11582590e-02 -6.42408610e-02] [-8.78310573e-03 2.11278621e-02 9.99738201e-01 -2.35064242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53719347 meters Centerline goodness : 0.878307 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.06, Z:-2.35 [[ 9.99960195e-01 3.12599526e-03 8.35686897e-03 1.56477296e+01] [-2.94708475e-03 9.99768017e-01 -2.13360574e-02 -6.44164038e-02] [-8.42162673e-03 2.13105798e-02 9.99737433e-01 -2.35073050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56719347 meters Centerline goodness : 0.878515 Centerline is valid? [False, False] Translation: X:15.67, Y:-0.07, Z:-2.35 [[ 9.99967558e-01 2.71026940e-03 7.58528770e-03 1.56702236e+01] [-2.54142875e-03 9.99750746e-01 -2.21807738e-02 -6.53445497e-02] [-7.64351291e-03 2.21607768e-02 9.99725201e-01 -2.35224324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59719347 meters Centerline goodness : 0.880238 Centerline is valid? [False, False] Translation: X:15.67, Y:-0.07, Z:-2.35 [[ 9.99976707e-01 8.49249222e-04 6.77229988e-03 1.56731839e+01] [-6.90172712e-04 9.99724605e-01 -2.34571283e-02 -6.57315429e-02] [-6.79035577e-03 2.34519079e-02 9.99701905e-01 -2.35404072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62719347 meters Centerline goodness : 0.878868 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.07, Z:-2.36 [[ 9.99981573e-01 -1.07169442e-03 5.97538908e-03 1.56760806e+01] [ 1.21898227e-03 9.99694161e-01 -2.47001754e-02 -6.63146187e-02] [-5.94709053e-03 2.47070041e-02 9.99677046e-01 -2.35574193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65719347 meters Centerline goodness : 0.880172 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.07, Z:-2.35 [[ 9.99953222e-01 -9.07098230e-03 3.35719725e-03 1.56904625e+01] [ 9.13183917e-03 9.99785690e-01 -1.85791002e-02 -6.88044207e-02] [-3.18794708e-03 1.86088885e-02 9.99821757e-01 -2.35253911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68719347 meters Centerline goodness : 0.880172 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.07, Z:-2.35 [[ 9.99953222e-01 -9.07098230e-03 3.35719725e-03 1.56904625e+01] [ 9.13183917e-03 9.99785690e-01 -1.85791002e-02 -6.88044207e-02] [-3.18794708e-03 1.86088885e-02 9.99821757e-01 -2.35253911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71719347 meters Centerline goodness : 0.882966 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.07, Z:-2.35 [[ 9.99927727e-01 -1.09942442e-02 4.86483903e-03 1.57105373e+01] [ 1.10886656e-02 9.99741923e-01 -1.98274592e-02 -7.01525785e-02] [-4.64559560e-03 1.98799708e-02 9.99791581e-01 -2.35324201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74719346999998 meters Centerline goodness : 0.883477 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.07, Z:-2.35 [[ 9.99915466e-01 -1.22131869e-02 4.46084614e-03 1.57115528e+01] [ 1.23012227e-02 9.99718825e-01 -2.02719239e-02 -7.07830380e-02] [-4.21200706e-03 2.03250841e-02 9.99784552e-01 -2.35336865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77719347 meters Centerline goodness : 0.875679 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.07, Z:-2.35 [[ 9.99904054e-01 -1.32572079e-02 4.01613925e-03 1.57128385e+01] [ 1.33379072e-02 9.99695064e-01 -2.07816909e-02 -7.05938996e-02] [-3.73940739e-03 2.08332639e-02 9.99775971e-01 -2.35376492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80719347 meters Centerline goodness : 0.879467 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.07, Z:-2.36 [[ 9.99856105e-01 -1.67045830e-02 2.95400702e-03 1.57361823e+01] [ 1.67725845e-02 9.99553504e-01 -2.47279769e-02 -6.72240416e-02] [-2.53961753e-03 2.47739650e-02 9.99689852e-01 -2.35589098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83719347 meters Centerline goodness : 0.877457 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.06, Z:-2.36 [[ 9.99845163e-01 -1.73930865e-02 2.67021626e-03 1.57372911e+01] [ 1.74560420e-02 9.99517003e-01 -2.57108226e-02 -6.45177096e-02] [-2.22173599e-03 2.57534530e-02 9.99665856e-01 -2.35654516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86719347 meters Centerline goodness : 0.880946 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.06, Z:-2.36 [[ 9.99866044e-01 -1.62585632e-02 1.88484445e-03 1.57594500e+01] [ 1.63016383e-02 9.99537087e-01 -2.56878903e-02 -6.24485630e-02] [-1.46632374e-03 2.57151753e-02 9.99668235e-01 -2.35813979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89719347 meters Centerline goodness : 0.880958 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.06, Z:-2.36 [[ 9.99892892e-01 -1.45865418e-02 1.19849451e-03 1.57617020e+01] [ 1.46116892e-02 9.99588489e-01 -2.46850207e-02 -5.59422820e-02] [-8.37932228e-04 2.46998887e-02 9.99694560e-01 -2.35927082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92719347 meters Centerline goodness : 0.878523 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.05, Z:-2.36 [[ 9.99931811e-01 -1.16395594e-02 9.45512617e-04 1.57623620e+01] [ 1.16573281e-02 9.99696934e-01 -2.16828481e-02 -5.38799104e-02] [-6.92847267e-04 2.16923917e-02 9.99764452e-01 -2.35946695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95719347 meters Centerline goodness : 0.882144 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.05, Z:-2.36 [[ 9.99948998e-01 -9.82089314e-03 2.35598664e-03 1.57825024e+01] [ 9.86868862e-03 9.99726243e-01 -2.12143391e-02 -5.10032024e-02] [-2.14699791e-03 2.12365077e-02 9.99772175e-01 -2.36043423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98719347 meters Centerline goodness : 0.874588 Centerline is valid? [False, False] Translation: X:15.80, Y:-0.04, Z:-2.36 [[ 9.99953669e-01 -8.25233280e-03 4.95559211e-03 1.58019896e+01] [ 8.37060680e-03 9.99668688e-01 -2.43402376e-02 -4.06600912e-02] [-4.75308653e-03 2.43805912e-02 9.99691450e-01 -2.36307031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01719347 meters Centerline goodness : 0.876986 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.04, Z:-2.36 [[ 9.99956327e-01 -6.73754160e-03 6.47684435e-03 1.58219452e+01] [ 6.89501061e-03 9.99673453e-01 -2.46058109e-02 -3.69611736e-02] [-6.30894668e-03 2.46493942e-02 9.99676250e-01 -2.36408035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04719347 meters Centerline goodness : 0.874654 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.03, Z:-2.36 [[ 9.99971575e-01 -4.93066832e-03 5.70418932e-03 1.58241482e+01] [ 5.05937495e-03 9.99727847e-01 -2.27735623e-02 -3.39164589e-02] [-5.59034802e-03 2.28017746e-02 9.99724376e-01 -2.36487462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07719347 meters Centerline goodness : 0.872744 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.03, Z:-2.37 [[ 9.99965073e-01 -4.48244363e-03 7.05409634e-03 1.58449546e+01] [ 4.65038479e-03 9.99701764e-01 -2.39740936e-02 -3.05980031e-02] [-6.94453003e-03 2.40060605e-02 9.99687693e-01 -2.36627395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10719347 meters Centerline goodness : 0.875991 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.03, Z:-2.37 [[ 9.99971334e-01 -4.08356903e-03 6.37620591e-03 1.58477540e+01] [ 4.23358115e-03 9.99710309e-01 -2.36933592e-02 -2.68822296e-02] [-6.27760531e-03 2.37196741e-02 9.99698939e-01 -2.36804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13719347 meters Centerline goodness : 0.877552 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.02, Z:-2.37 [[ 9.99972818e-01 -4.80368365e-03 5.59353052e-03 1.58710191e+01] [ 4.94409738e-03 9.99666013e-01 -2.53656805e-02 -1.78499420e-02] [-5.46981365e-03 2.53926460e-02 9.99662590e-01 -2.37059084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16719347 meters Centerline goodness : 0.874250 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.01, Z:-2.37 [[ 9.99980110e-01 -4.15566877e-03 4.74441369e-03 1.58737088e+01] [ 4.27103329e-03 9.99688979e-01 -2.45703850e-02 -1.39150060e-02] [-4.64083169e-03 2.45901598e-02 9.99686844e-01 -2.37171588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19719347 meters Centerline goodness : 0.875293 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.00, Z:-2.37 [[ 9.99984800e-01 -3.19867286e-03 4.49081064e-03 1.58733315e+01] [ 3.30843335e-03 9.99690661e-01 -2.46502671e-02 -4.98518437e-03] [-4.41057332e-03 2.46647500e-02 9.99686049e-01 -2.37005550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22719347 meters Centerline goodness : 0.876573 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.00, Z:-2.37 [[ 9.99991146e-01 -7.02069912e-04 4.14910329e-03 1.58738515e+01] [ 7.95222956e-04 9.99746695e-01 -2.24925325e-02 -1.51015246e-03] [-4.13226097e-03 2.24956328e-02 9.99738401e-01 -2.36959585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25719347 meters Centerline goodness : 0.877346 Centerline is valid? [False, False] Translation: X:15.87, Y:0.00, Z:-2.37 [[ 9.99988547e-01 2.64789601e-03 3.98680224e-03 1.58741868e+01] [-2.56740227e-03 9.99795450e-01 -2.00615721e-02 3.00802144e-03] [-4.03910769e-03 2.00511066e-02 9.99790797e-01 -2.36909445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28719347 meters Centerline goodness : 0.877387 Centerline is valid? [False, False] Translation: X:15.87, Y:0.01, Z:-2.37 [[ 9.99956884e-01 8.18874614e-03 4.37880806e-03 1.58727655e+01] [-8.12169019e-03 9.99852727e-01 -1.51183001e-02 8.44040068e-03] [-4.50196310e-03 1.50820850e-02 9.99876124e-01 -2.36778486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31719347 meters Centerline goodness : 0.880691 Centerline is valid? [False, False] Translation: X:15.87, Y:0.02, Z:-2.37 [[ 9.99835536e-01 1.75775627e-02 4.46423482e-03 1.58728503e+01] [-1.75380675e-02 9.99808020e-01 -8.73722001e-03 2.16530738e-02] [-4.61695681e-03 8.65748901e-03 9.99951865e-01 -2.36707999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34719347 meters Centerline goodness : 0.883889 Centerline is valid? [False, False] Translation: X:15.87, Y:0.03, Z:-2.37 [[ 9.99770742e-01 2.09793027e-02 4.28163568e-03 1.58733436e+01] [-2.09495060e-02 9.99756799e-01 -6.88925906e-03 2.87477788e-02] [-4.42512623e-03 6.79798149e-03 9.99967102e-01 -2.36675745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37719347 meters Centerline goodness : 0.880530 Centerline is valid? [False, False] Translation: X:15.87, Y:0.04, Z:-2.37 [[ 9.99688867e-01 2.45723321e-02 4.28601583e-03 1.58734019e+01] [-2.45511782e-02 9.99686466e-01 -4.92026719e-03 3.54128681e-02] [-4.40557445e-03 4.81350959e-03 9.99978710e-01 -2.36634968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40719347 meters Centerline goodness : 0.882625 Centerline is valid? [False, False] Translation: X:15.87, Y:0.04, Z:-2.37 [[ 9.99601452e-01 2.79661532e-02 3.85127935e-03 1.58748571e+01] [-2.79543308e-02 9.99604425e-01 -3.09010748e-03 4.19033133e-02] [-3.93617430e-03 2.98121599e-03 9.99987809e-01 -2.36671606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43719347 meters Centerline goodness : 0.886850 Centerline is valid? [False, False] Translation: X:15.88, Y:0.05, Z:-2.37 [[ 9.99274967e-01 3.79073558e-02 3.54588128e-03 1.58766417e+01] [-3.79229647e-02 9.99270786e-01 4.44347720e-03 5.27236149e-02] [-3.37485510e-03 -4.57472586e-03 9.99983841e-01 -2.36711399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46719347 meters Centerline goodness : 0.886007 Centerline is valid? [False, False] Translation: X:15.88, Y:0.06, Z:-2.37 [[ 9.99120988e-01 4.17682262e-02 3.55914879e-03 1.58768438e+01] [-4.17922198e-02 9.99102101e-01 6.95710703e-03 5.85138616e-02] [-3.26536702e-03 -7.09973638e-03 9.99969465e-01 -2.36670470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49719346999998 meters Centerline goodness : 0.886402 Centerline is valid? [False, False] Translation: X:15.88, Y:0.06, Z:-2.37 [[ 9.98980654e-01 4.50017265e-02 3.53518173e-03 1.58767425e+01] [-4.50314657e-02 9.98946465e-01 8.83898378e-03 6.44290531e-02] [-3.13368776e-03 -8.98916821e-03 9.99954686e-01 -2.36578508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52719347 meters Centerline goodness : 0.889799 Centerline is valid? [False, False] Translation: X:15.88, Y:0.07, Z:-2.37 [[ 9.98668585e-01 5.14632430e-02 3.54842284e-03 1.58772286e+01] [-5.15073629e-02 9.98578270e-01 1.37269682e-02 7.19825301e-02] [-2.83694364e-03 -1.38914619e-02 9.99899484e-01 -2.36527633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55719347 meters Centerline goodness : 0.890245 Centerline is valid? [False, False] Translation: X:15.88, Y:0.07, Z:-2.37 [[ 9.98598509e-01 5.28567364e-02 2.68005859e-03 1.58804595e+01] [-5.28904369e-02 9.98493047e-01 1.46368547e-02 7.41628065e-02] [-1.90236350e-03 -1.47580908e-02 9.99889284e-01 -2.36714359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58719347 meters Centerline goodness : 0.889615 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.98601236e-01 5.28346761e-02 2.01694422e-03 1.58820354e+01] [-5.28577331e-02 9.98504681e-01 1.39449481e-02 7.61032122e-02] [-1.27715143e-03 -1.40320535e-02 9.99900730e-01 -2.36767323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61719347 meters Centerline goodness : 0.890117 Centerline is valid? [False, False] Translation: X:15.89, Y:0.07, Z:-2.37 [[ 9.98611201e-01 5.24403894e-02 5.06698596e-03 1.58929159e+01] [-5.25496102e-02 9.98315661e-01 2.45841177e-02 7.38716213e-02] [-3.76925074e-03 -2.48162434e-02 9.99684924e-01 -2.37032541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64719347 meters Centerline goodness : 0.891424 Centerline is valid? [False, False] Translation: X:15.89, Y:0.07, Z:-2.37 [[ 9.98595991e-01 5.27588431e-02 4.74882791e-03 1.58943783e+01] [-5.28592165e-02 9.98305420e-01 2.43349843e-02 7.46129481e-02] [-3.45689502e-03 -2.45518371e-02 9.99692581e-01 -2.37160520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67719347 meters Centerline goodness : 0.895894 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.37 [[ 9.98599905e-01 5.27260382e-02 4.26550562e-03 1.58960082e+01] [-5.28129459e-02 9.98320886e-01 2.37949717e-02 7.62494192e-02] [-3.00372876e-03 -2.39869304e-02 9.99707760e-01 -2.37263026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70719347 meters Centerline goodness : 0.893997 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.37 [[ 9.98593804e-01 5.28827079e-02 3.71932852e-03 1.58974674e+01] [-5.29554577e-02 9.98323113e-01 2.33812172e-02 7.80560080e-02] [-2.47662954e-03 -2.35452974e-02 9.99719703e-01 -2.37323234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73719347 meters Centerline goodness : 0.890741 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.37 [[ 9.98590261e-01 5.29782270e-02 3.28597856e-03 1.58984572e+01] [-5.30403479e-02 9.98323214e-01 2.31836641e-02 7.89967435e-02] [-2.05223926e-03 -2.33252706e-02 9.99725822e-01 -2.37339828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76719347 meters Centerline goodness : 0.890148 Centerline is valid? [False, False] Translation: X:15.90, Y:0.08, Z:-2.38 [[ 9.98687469e-01 5.11797411e-02 1.99336257e-03 1.59019590e+01] [-5.12105466e-02 9.98462785e-01 2.12025138e-02 7.53825979e-02] [-9.05159176e-04 -2.12767661e-02 9.99773214e-01 -2.37530733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79719347 meters Centerline goodness : 0.893704 Centerline is valid? [False, False] Translation: X:15.92, Y:0.07, Z:-2.38 [[ 9.98838166e-01 4.81900908e-02 1.84848640e-04 1.59243890e+01] [-4.81843028e-02 9.98642262e-01 1.97966147e-02 7.14470868e-02] [ 7.69402995e-04 -1.97825211e-02 9.99804011e-01 -2.37727519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82719347 meters Centerline goodness : 0.894677 Centerline is valid? [False, False] Translation: X:15.93, Y:0.07, Z:-2.38 [[ 9.98926721e-01 4.63133438e-02 -6.93053936e-04 1.59275703e+01] [-4.62931208e-02 9.98762526e-01 1.81758892e-02 6.84113487e-02] [ 1.53398250e-03 -1.81242977e-02 9.99834565e-01 -2.37949588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85719347 meters Centerline goodness : 0.891226 Centerline is valid? [False, False] Translation: X:15.95, Y:0.06, Z:-2.38 [[ 9.99172774e-01 4.06662731e-02 -1.50001069e-04 1.59511642e+01] [-4.06404898e-02 9.98657719e-01 3.21109043e-02 6.02682719e-02] [ 1.45563053e-03 -3.20782452e-02 9.99484301e-01 -2.38258775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88719347 meters Centerline goodness : 0.888997 Centerline is valid? [False, False] Translation: X:15.96, Y:0.06, Z:-2.39 [[ 9.99252543e-01 3.83480363e-02 4.87691600e-03 1.59623364e+01] [-3.85155464e-02 9.98422834e-01 4.08460208e-02 5.55071244e-02] [-3.30285960e-03 -4.10033272e-02 9.99153551e-01 -2.38593478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91719347 meters Centerline goodness : 0.889069 Centerline is valid? [False, False] Translation: X:15.97, Y:0.05, Z:-2.39 [[ 9.99391987e-01 3.40109443e-02 7.67544972e-03 1.59721959e+01] [-3.43444903e-02 9.98228360e-01 4.85859830e-02 5.16343222e-02] [-6.00939643e-03 -4.88200515e-02 9.98789512e-01 -2.38682059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94719347 meters Centerline goodness : 0.890225 Centerline is valid? [False, False] Translation: X:15.97, Y:0.05, Z:-2.39 [[ 9.99529544e-01 2.98533352e-02 7.03339289e-03 1.59727754e+01] [-3.01392658e-02 9.98539615e-01 4.48359340e-02 5.01378558e-02] [-5.68461926e-03 -4.50268220e-02 9.98969604e-01 -2.38608308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97719347 meters Centerline goodness : 0.891721 Centerline is valid? [False, False] Translation: X:15.97, Y:0.05, Z:-2.38 [[ 9.99763310e-01 2.08807131e-02 6.10891544e-03 1.59732801e+01] [-2.10974698e-02 9.99059598e-01 3.78789808e-02 4.51740202e-02] [-5.31223047e-03 -3.79988979e-02 9.99263661e-01 -2.38426631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00719347 meters Centerline goodness : 0.889810 Centerline is valid? [False, False] Translation: X:15.95, Y:0.04, Z:-2.38 [[ 9.99935470e-01 1.11127996e-02 2.35819673e-03 1.59494967e+01] [-1.12057468e-02 9.98970466e-01 4.39595134e-02 4.33366263e-02] [-1.86725563e-03 -4.39831020e-02 9.99030530e-01 -2.38063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03719347 meters Centerline goodness : 0.891179 Centerline is valid? [False, False] Translation: X:15.93, Y:0.05, Z:-2.38 [[ 9.99995173e-01 3.01800640e-03 -7.39326819e-04 1.59308096e+01] [-2.99163007e-03 9.99437591e-01 3.33998706e-02 4.56198155e-02] [ 8.39712039e-04 -3.33974976e-02 9.99441795e-01 -2.37923229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06719347 meters Centerline goodness : 0.893449 Centerline is valid? [False, False] Translation: X:15.91, Y:0.05, Z:-2.38 [[ 9.99994322e-01 -3.27295839e-03 -8.02824506e-04 1.59082729e+01] [ 3.29153087e-03 9.99698305e-01 2.43405943e-02 4.87054793e-02] [ 7.22916546e-04 -2.43430986e-02 9.99703401e-01 -2.37646193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09719347 meters Centerline goodness : 0.887681 Centerline is valid? [False, False] Translation: X:15.90, Y:0.05, Z:-2.37 [[ 9.99969093e-01 -7.86084405e-03 1.43171552e-04 1.59042048e+01] [ 7.85653430e-03 9.99777448e-01 1.95788146e-02 5.15380651e-02] [-2.97045698e-04 -1.95770847e-02 9.99808306e-01 -2.37314925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12719347 meters Centerline goodness : 0.891207 Centerline is valid? [False, False] Translation: X:15.90, Y:0.05, Z:-2.37 [[ 9.99961984e-01 -8.71945848e-03 2.92154929e-05 1.59040518e+01] [ 8.71738401e-03 9.99786797e-01 1.87181016e-02 5.33037651e-02] [-1.92420974e-04 -1.87171353e-02 9.99824801e-01 -2.37258838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15719347 meters Centerline goodness : 0.891938 Centerline is valid? [False, False] Translation: X:15.89, Y:0.06, Z:-2.37 [[ 9.99947215e-01 -8.25204388e-03 -6.12137068e-03 1.58928003e+01] [ 8.31504146e-03 9.99911985e-01 1.03383660e-02 5.71873681e-02] [ 6.03551926e-03 -1.03887197e-02 9.99927821e-01 -2.36866363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18719347 meters Centerline goodness : 0.892300 Centerline is valid? [False, False] Translation: X:15.87, Y:0.06, Z:-2.37 [[ 9.99930671e-01 -8.82288900e-03 -7.79800406e-03 1.58730647e+01] [ 8.88310340e-03 9.99930735e-01 7.72116348e-03 6.17011065e-02] [ 7.72934096e-03 -7.78989866e-03 9.99939786e-01 -2.36845199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21719347 meters Centerline goodness : 0.887279 Centerline is valid? [False, False] Translation: X:15.87, Y:0.06, Z:-2.37 [[ 9.99921810e-01 -9.47225198e-03 -8.16402512e-03 1.58742189e+01] [ 9.52636535e-03 9.99932742e-01 6.61506803e-03 6.45531181e-02] [ 8.10081644e-03 -6.69232428e-03 9.99944793e-01 -2.36897948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24719346999998 meters Centerline goodness : 0.893015 Centerline is valid? [False, False] Translation: X:15.87, Y:0.07, Z:-2.37 [[ 9.99940752e-01 -7.40784679e-03 -7.97598447e-03 1.58731823e+01] [ 7.47628443e-03 9.99935198e-01 8.58511216e-03 6.70732950e-02] [ 7.91187042e-03 -8.64423424e-03 9.99931337e-01 -2.36812451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27719347 meters Centerline goodness : 0.889757 Centerline is valid? [False, False] Translation: X:15.87, Y:0.07, Z:-2.37 [[ 9.99936406e-01 -7.70723265e-03 -8.23300808e-03 1.58736955e+01] [ 7.76871722e-03 9.99941978e-01 7.46236598e-03 7.11541048e-02] [ 8.17501620e-03 -7.52585133e-03 9.99938263e-01 -2.36806196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30719347 meters Centerline goodness : 0.894387 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.99948194e-01 -5.54945864e-03 -8.53302017e-03 1.58753482e+01] [ 5.62476806e-03 9.99945220e-01 8.82712331e-03 7.67883905e-02] [ 8.48356698e-03 -8.87466228e-03 9.99924632e-01 -2.36951791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33719347 meters Centerline goodness : 0.891939 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.99942273e-01 -6.09905154e-03 -8.84607448e-03 1.58765954e+01] [ 6.16703040e-03 9.99951508e-01 7.67782454e-03 8.04385922e-02] [ 8.79881807e-03 -7.73193533e-03 9.99931397e-01 -2.37035915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36719347 meters Centerline goodness : 0.894468 Centerline is valid? [False, False] Translation: X:15.88, Y:0.08, Z:-2.37 [[ 9.99932871e-01 -6.81342859e-03 -9.37178668e-03 1.58783662e+01] [ 6.87392576e-03 9.99955648e-01 6.43825185e-03 8.42630854e-02] [ 9.32750446e-03 -6.50224062e-03 9.99935357e-01 -2.37130119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39719347 meters Centerline goodness : 0.888423 Centerline is valid? [False, False] Translation: X:15.88, Y:0.09, Z:-2.37 [[ 9.99942960e-01 -4.62402502e-03 -9.62778862e-03 1.58792607e+01] [ 4.70840156e-03 9.99950548e-01 8.75971022e-03 8.66926612e-02] [ 9.58680738e-03 -8.80454206e-03 9.99915283e-01 -2.37191662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42719347 meters Centerline goodness : 0.886507 Centerline is valid? [False, False] Translation: X:15.88, Y:0.09, Z:-2.37 [[ 9.99948867e-01 -2.56553930e-03 -9.78170935e-03 1.58799991e+01] [ 2.66050639e-03 9.99949337e-01 9.70802018e-03 9.44860184e-02] [ 9.75630747e-03 -9.73354808e-03 9.99905032e-01 -2.37250993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45719347 meters Centerline goodness : 0.884153 Centerline is valid? [False, False] Translation: X:15.88, Y:0.10, Z:-2.37 [[ 9.99949847e-01 3.06678807e-04 -1.00105067e-02 1.58803545e+01] [-1.82762702e-04 9.99923383e-01 1.23771731e-02 9.69743834e-02] [ 1.00135356e-02 -1.23747228e-02 9.99873290e-01 -2.37241961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48719347 meters Centerline goodness : 0.890823 Centerline is valid? [False, False] Translation: X:15.88, Y:0.10, Z:-2.37 [[ 9.99944550e-01 2.91388681e-03 -1.01195971e-02 1.58801592e+01] [-2.76590402e-03 9.99889491e-01 1.46067234e-02 1.00200034e-01] [ 1.01610411e-02 -1.45779236e-02 9.99842106e-01 -2.37187191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51719347 meters Centerline goodness : 0.893226 Centerline is valid? [False, False] Translation: X:15.88, Y:0.11, Z:-2.37 [[ 9.99943951e-01 2.59420211e-03 -1.02647759e-02 1.58799543e+01] [-2.46140842e-03 9.99913395e-01 1.29283857e-02 1.05741116e-01] [ 1.02974257e-02 -1.29023953e-02 9.99863736e-01 -2.37095027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54719347 meters Centerline goodness : 0.887937 Centerline is valid? [False, False] Translation: X:15.89, Y:0.12, Z:-2.37 [[ 9.99957709e-01 7.08258613e-03 -5.86669132e-03 1.58870080e+01] [-7.05134908e-03 9.99960944e-01 5.32815499e-03 1.17250109e-01] [ 5.90419931e-03 -5.28656157e-03 9.99968596e-01 -2.37065020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57719347 meters Centerline goodness : 0.887937 Centerline is valid? [False, False] Translation: X:15.89, Y:0.12, Z:-2.37 [[ 9.99957707e-01 7.08361539e-03 -5.86572989e-03 1.58870057e+01] [-7.05237921e-03 9.99960933e-01 5.32887041e-03 1.17250337e-01] [ 5.90324840e-03 -5.28727769e-03 9.99968598e-01 -2.37064934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60719347 meters Centerline goodness : 0.885810 Centerline is valid? [False, False] Translation: X:15.89, Y:0.12, Z:-2.37 [[ 9.99927770e-01 1.03515392e-02 -6.10733195e-03 1.58876194e+01] [-1.03038394e-02 9.99916565e-01 7.79069446e-03 1.21380443e-01] [ 6.18746806e-03 -7.72720277e-03 9.99951002e-01 -2.37070041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63719347 meters Centerline goodness : 0.884661 Centerline is valid? [False, False] Translation: X:15.89, Y:0.13, Z:-2.37 [[ 9.99885719e-01 1.37443825e-02 -6.29610220e-03 1.58880210e+01] [-1.36786362e-02 9.99852678e-01 1.03690648e-02 1.25215662e-01] [ 6.43769104e-03 -1.02817577e-02 9.99926418e-01 -2.37054844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66719347 meters Centerline goodness : 0.891703 Centerline is valid? [False, False] Translation: X:15.89, Y:0.13, Z:-2.37 [[ 9.99838527e-01 1.68440353e-02 -6.26084586e-03 1.58877365e+01] [-1.67640157e-02 9.99779815e-01 1.26209492e-02 1.28954635e-01] [ 6.47205503e-03 -1.25139543e-02 9.99900752e-01 -2.36989014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69719347 meters Centerline goodness : 0.888917 Centerline is valid? [False, False] Translation: X:15.89, Y:0.14, Z:-2.37 [[ 9.99759553e-01 2.11893671e-02 -5.64322274e-03 1.58859856e+01] [-2.11082206e-02 9.99678181e-01 1.40704636e-02 1.35959317e-01] [ 5.93955086e-03 -1.39479620e-02 9.99885081e-01 -2.36791641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72719347 meters Centerline goodness : 0.891349 Centerline is valid? [False, False] Translation: X:15.90, Y:0.14, Z:-2.37 [[ 9.99698956e-01 2.45315904e-02 -4.45808173e-04 1.58970746e+01] [-2.45275398e-02 9.99670777e-01 7.53248260e-03 1.40840131e-01] [ 6.30445180e-04 -7.51928042e-03 9.99971531e-01 -2.37074957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75719347 meters Centerline goodness : 0.890314 Centerline is valid? [False, False] Translation: X:15.90, Y:0.14, Z:-2.37 [[ 9.99598022e-01 2.83432849e-02 -6.72690698e-04 1.58975318e+01] [-2.83345015e-02 9.99541530e-01 1.06717195e-02 1.43631476e-01] [ 9.74853875e-04 -1.06483693e-02 9.99942829e-01 -2.37033759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78719347 meters Centerline goodness : 0.894663 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99317791e-01 3.69237901e-02 -7.65966567e-04 1.58977372e+01] [-3.69035664e-02 9.99150702e-01 1.83303271e-02 1.46570800e-01] [ 1.44214119e-03 -1.82895551e-02 9.99831692e-01 -2.36942923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81719347 meters Centerline goodness : 0.891549 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99288942e-01 3.76861572e-02 -1.16810115e-03 1.58988939e+01] [-3.76586129e-02 9.99124089e-01 1.82450991e-02 1.48596783e-01] [ 1.85466567e-03 -1.81881367e-02 9.99832862e-01 -2.36964613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84719347 meters Centerline goodness : 0.896794 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99263303e-01 3.83428888e-02 -1.63557304e-03 1.59005041e+01] [-3.83064562e-02 9.99097248e-01 1.83658637e-02 1.49453945e-01] [ 2.33829679e-03 -1.82896806e-02 9.99829996e-01 -2.37044499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87719347 meters Centerline goodness : 0.896512 Centerline is valid? [False, False] Translation: X:15.90, Y:0.15, Z:-2.37 [[ 9.99238441e-01 3.89611892e-02 -2.13645893e-03 1.59023630e+01] [-3.89140392e-02 9.99064260e-01 1.88759847e-02 1.48598617e-01] [ 2.86989057e-03 -1.87784712e-02 9.99819550e-01 -2.37156281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90719347 meters Centerline goodness : 0.891899 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.37 [[ 9.99287437e-01 3.76152159e-02 -3.11653531e-03 1.59062436e+01] [-3.75553564e-02 9.99142320e-01 1.74418742e-02 1.43948811e-01] [ 3.76994218e-03 -1.73124032e-02 9.99843022e-01 -2.37437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93719347 meters Centerline goodness : 0.906172 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.37 [[ 9.99397412e-01 3.45324109e-02 -3.51086066e-03 1.59071873e+01] [-3.44797628e-02 9.99306089e-01 1.40885061e-02 1.43021203e-01] [ 3.99493452e-03 -1.39589629e-02 9.99894588e-01 -2.37478111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96719346999998 meters Centerline goodness : 0.907989 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.38 [[ 9.99490456e-01 3.16614034e-02 -4.04759700e-03 1.59083274e+01] [-3.16156124e-02 9.99440485e-01 1.09164686e-02 1.42506259e-01] [ 4.39096303e-03 -1.07829390e-02 9.99932222e-01 -2.37500760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99719346999998 meters Centerline goodness : 0.905167 Centerline is valid? [False, False] Translation: X:15.91, Y:0.14, Z:-2.38 [[ 9.99552216e-01 2.95462731e-02 -4.73127561e-03 1.59103748e+01] [-2.95046229e-02 9.99527272e-01 8.64345604e-03 1.41453366e-01] [ 4.98442092e-03 -8.49999114e-03 9.99951452e-01 -2.37590023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02719347 meters Centerline goodness : 0.899413 Centerline is valid? [False, False] Translation: X:15.93, Y:0.13, Z:-2.38 [[ 9.99610078e-01 2.78536724e-02 -1.96595233e-03 1.59283932e+01] [-2.78263307e-02 9.99531043e-01 1.27824047e-02 1.31702274e-01] [ 2.32106729e-03 -1.27227153e-02 9.99916369e-01 -2.37774871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05719347 meters Centerline goodness : 0.899066 Centerline is valid? [False, False] Translation: X:15.94, Y:0.13, Z:-2.38 [[ 9.99766786e-01 2.15358633e-02 -1.60605806e-03 1.59400264e+01] [-2.15047554e-02 9.99617878e-01 1.73678867e-02 1.28053855e-01] [ 1.97947678e-03 -1.73292984e-02 9.99847877e-01 -2.37908255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08719347 meters Centerline goodness : 0.896270 Centerline is valid? [False, False] Translation: X:15.95, Y:0.12, Z:-2.38 [[ 9.99848145e-01 1.70229725e-02 3.72911960e-03 1.59532294e+01] [-1.70985055e-02 9.99627807e-01 2.12576780e-02 1.22509596e-01] [-3.36586278e-03 -2.13182123e-02 9.99767075e-01 -2.38295739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11719347 meters Centerline goodness : 0.895586 Centerline is valid? [False, False] Translation: X:15.97, Y:0.11, Z:-2.38 [[ 9.99910017e-01 1.17104653e-02 6.54395009e-03 1.59719492e+01] [-1.18495804e-02 9.99695595e-01 2.16403692e-02 1.10622371e-01] [-6.28853929e-03 -2.17159650e-02 9.99744403e-01 -2.38459313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14719347 meters Centerline goodness : 0.898569 Centerline is valid? [False, False] Translation: X:15.99, Y:0.10, Z:-2.39 [[ 9.99926837e-01 8.34516127e-03 8.75660645e-03 1.59916748e+01] [-8.53893264e-03 9.99714196e-01 2.23296232e-02 1.04151586e-01] [-8.56775947e-03 -2.24027615e-02 9.99712314e-01 -2.38632013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17719347 meters Centerline goodness : 0.897465 Centerline is valid? [False, False] Translation: X:15.99, Y:0.10, Z:-2.39 [[ 9.99953486e-01 5.00920500e-03 8.24214558e-03 1.59930372e+01] [-5.17341076e-03 9.99786125e-01 2.00234831e-02 9.91486802e-02] [-8.14008106e-03 -2.00651917e-02 9.99765536e-01 -2.38647111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20719347 meters Centerline goodness : 0.900469 Centerline is valid? [False, False] Translation: X:16.02, Y:0.08, Z:-2.39 [[ 9.99974063e-01 -3.54552455e-03 6.26924914e-03 1.60236219e+01] [ 3.26281378e-03 9.99002096e-01 4.45439809e-02 8.42517763e-02] [-6.42092481e-03 -4.45223702e-02 9.98987753e-01 -2.38638878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23719347 meters Centerline goodness : 0.901656 Centerline is valid? [False, False] Translation: X:16.03, Y:0.08, Z:-2.39 [[ 9.99960313e-01 -6.80125503e-03 5.75453347e-03 1.60253582e+01] [ 6.55313122e-03 9.99092316e-01 4.20903782e-02 8.14897243e-02] [-6.03557757e-03 -4.20509975e-02 9.99097235e-01 -2.38659278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26719347 meters Centerline goodness : 0.898504 Centerline is valid? [False, False] Translation: X:16.04, Y:0.08, Z:-2.39 [[ 9.99908839e-01 -1.19782785e-02 6.23176601e-03 1.60357151e+01] [ 1.16530038e-02 9.98688903e-01 4.98465935e-02 7.65563823e-02] [-6.82067193e-03 -4.97694306e-02 9.98737444e-01 -2.38627562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29719347 meters Centerline goodness : 0.900760 Centerline is valid? [False, False] Translation: X:16.05, Y:0.07, Z:-2.39 [[ 9.99820134e-01 -1.81088256e-02 5.63653502e-03 1.60467753e+01] [ 1.77619926e-02 9.98246500e-01 5.64662462e-02 7.23562369e-02] [-6.64918876e-03 -5.63559738e-02 9.98388598e-01 -2.38559323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32719347 meters Centerline goodness : 0.900080 Centerline is valid? [False, False] Translation: X:16.05, Y:0.07, Z:-2.39 [[ 9.99604806e-01 -2.76647810e-02 4.98906880e-03 1.60489984e+01] [ 2.73914593e-02 9.98453440e-01 4.83780449e-02 6.50810446e-02] [-6.31972092e-03 -4.82222683e-02 9.98816637e-01 -2.38524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35719347 meters Centerline goodness : 0.899654 Centerline is valid? [False, False] Translation: X:16.06, Y:0.07, Z:-2.38 [[ 9.99478695e-01 -3.16759690e-02 6.24261869e-03 1.60567437e+01] [ 3.14518204e-02 9.98953051e-01 3.32202578e-02 6.54787855e-02] [-7.28836684e-03 -3.30065982e-02 9.99428559e-01 -2.38315816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38719347 meters Centerline goodness : 0.904150 Centerline is valid? [False, False] Translation: X:16.06, Y:0.06, Z:-2.38 [[ 9.99344791e-01 -3.57064947e-02 5.91897096e-03 1.60576256e+01] [ 3.55136883e-02 9.98919232e-01 2.99857642e-02 6.26003908e-02] [-6.98326045e-03 -2.97559128e-02 9.99532801e-01 -2.38278924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41719347 meters Centerline goodness : 0.902552 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99222113e-01 -3.87029341e-02 7.56652059e-03 1.60660231e+01] [ 3.85742340e-02 9.99119942e-01 1.64733142e-02 6.22684651e-02] [-8.19742720e-03 -1.61686271e-02 9.99835675e-01 -2.38135510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44719347 meters Centerline goodness : 0.902009 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99042557e-01 -4.31309330e-02 7.32743365e-03 1.60665215e+01] [ 4.30338585e-02 9.98989993e-01 1.29260071e-02 6.00720441e-02] [-7.87754363e-03 -1.25983034e-02 9.99889607e-01 -2.38072975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47719347 meters Centerline goodness : 0.901254 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99025221e-01 -4.36390996e-02 6.65110035e-03 1.60680205e+01] [ 4.35511511e-02 9.98968692e-01 1.28393721e-02 5.98789726e-02] [-7.20453966e-03 -1.25371935e-02 9.99895451e-01 -2.38086514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50719347 meters Centerline goodness : 0.897832 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.99004299e-01 -4.41485643e-02 6.42760067e-03 1.60684815e+01] [ 4.40655120e-02 9.98949997e-01 1.25353401e-02 6.01571909e-02] [-6.97426893e-03 -1.22396231e-02 9.99900771e-01 -2.38074253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53719347 meters Centerline goodness : 0.893873 Centerline is valid? [False, False] Translation: X:16.07, Y:0.06, Z:-2.38 [[ 9.98985423e-01 -4.46375340e-02 5.96790627e-03 1.60696551e+01] [ 4.45633633e-02 9.98934103e-01 1.20317969e-02 6.10427121e-02] [-6.49861484e-03 -1.17536397e-02 9.99909806e-01 -2.38099111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56719347 meters Centerline goodness : 0.897276 Centerline is valid? [False, False] Translation: X:16.07, Y:0.07, Z:-2.38 [[ 9.98967194e-01 -4.50539614e-02 5.88955567e-03 1.60709553e+01] [ 4.49909168e-02 9.98932933e-01 1.04313399e-02 6.64740635e-02] [-6.35324431e-03 -1.01555898e-02 9.99928248e-01 -2.38263175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59719347 meters Centerline goodness : 0.896178 Centerline is valid? [False, False] Translation: X:16.07, Y:0.07, Z:-2.38 [[ 9.99066109e-01 -4.28677033e-02 5.41014861e-03 1.60728608e+01] [ 4.27988419e-02 9.99008487e-01 1.22597336e-02 7.03131753e-02] [-5.93033100e-03 -1.20167363e-02 9.99910211e-01 -2.38417170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62719347 meters Centerline goodness : 0.898842 Centerline is valid? [False, False] Translation: X:16.07, Y:0.08, Z:-2.38 [[ 9.99330001e-01 -3.63321661e-02 4.41856085e-03 1.60739570e+01] [ 3.62501226e-02 9.99191034e-01 1.74128087e-02 7.81041361e-02] [-5.04763144e-03 -1.72409688e-02 9.99838622e-01 -2.38398914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65719347 meters Centerline goodness : 0.898616 Centerline is valid? [False, False] Translation: X:16.07, Y:0.08, Z:-2.38 [[ 9.99462981e-01 -3.25309537e-02 3.93523558e-03 1.60742606e+01] [ 3.24446895e-02 9.99267496e-01 2.02932083e-02 8.18870531e-02] [-4.59251042e-03 -2.01546330e-02 9.99786327e-01 -2.38344776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68719347 meters Centerline goodness : 0.898340 Centerline is valid? [False, False] Translation: X:16.07, Y:0.09, Z:-2.38 [[ 9.99572299e-01 -2.90060443e-02 3.72394126e-03 1.60743850e+01] [ 2.89145709e-02 9.99325645e-01 2.26318945e-02 8.58242335e-02] [-4.37789174e-03 -2.25145386e-02 9.99736930e-01 -2.38359056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71719346999998 meters Centerline goodness : 0.899158 Centerline is valid? [False, False] Translation: X:16.07, Y:0.09, Z:-2.38 [[ 9.99753324e-01 -2.20649484e-02 2.53571922e-03 1.60736941e+01] [ 2.20424648e-02 9.99720246e-01 8.57672527e-03 9.44550271e-02] [-2.72425484e-03 -8.51871609e-03 9.99960004e-01 -2.38327142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74719346999998 meters Centerline goodness : 0.899137 Centerline is valid? [False, False] Translation: X:16.06, Y:0.10, Z:-2.38 [[ 9.99886708e-01 -1.43570879e-02 -4.52171057e-03 1.60648302e+01] [ 1.43901416e-02 9.99869337e-01 7.36432766e-03 9.95054094e-02] [ 4.41538945e-03 -7.42856139e-03 9.99962660e-01 -2.37952710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77719347 meters Centerline goodness : 0.899937 Centerline is valid? [False, False] Translation: X:16.08, Y:0.11, Z:-2.38 [[ 9.99991714e-01 -3.76341183e-03 -1.55187198e-03 1.60760211e+01] [ 3.77351180e-03 9.99971379e-01 6.55750714e-03 1.07723525e-01] [ 1.52714897e-03 -6.56330882e-03 9.99977295e-01 -2.38176963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80719347 meters Centerline goodness : 0.902346 Centerline is valid? [False, False] Translation: X:16.08, Y:0.11, Z:-2.38 [[ 9.99997584e-01 3.64711937e-04 -2.16780589e-03 1.60776284e+01] [-3.41930935e-04 9.99944816e-01 1.04998801e-02 1.07763388e-01] [ 2.17151569e-03 -1.04991135e-02 9.99942525e-01 -2.38232969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83719347 meters Centerline goodness : 0.899113 Centerline is valid? [False, False] Translation: X:16.09, Y:0.11, Z:-2.39 [[ 9.99999008e-01 -9.63888241e-04 -1.02736430e-03 1.60910868e+01] [ 9.82453539e-04 9.99833407e-01 1.82261542e-02 1.06589534e-01] [ 1.00962518e-03 -1.82271455e-02 9.99833362e-01 -2.38571019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86719347 meters Centerline goodness : 0.901261 Centerline is valid? [False, False] Translation: X:16.09, Y:0.10, Z:-2.39 [[ 9.99998043e-01 7.68903994e-04 -1.82260531e-03 1.60939131e+01] [-7.32499821e-04 9.99801888e-01 1.98909090e-02 1.04062302e-01] [ 1.83753843e-03 -1.98895350e-02 9.99800495e-01 -2.38742035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89719347 meters Centerline goodness : 0.900315 Centerline is valid? [False, False] Translation: X:16.11, Y:0.10, Z:-2.39 [[ 9.99999367e-01 9.84704301e-04 -5.44062600e-04 1.61142351e+01] [-9.72362539e-04 9.99752250e-01 2.22371796e-02 1.02301529e-01] [ 5.65824855e-04 -2.22366365e-02 9.99752575e-01 -2.38846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92719347 meters Centerline goodness : 0.899223 Centerline is valid? [False, False] Translation: X:16.13, Y:0.10, Z:-2.39 [[ 9.99995701e-01 2.84002101e-03 7.29524540e-04 1.61344123e+01] [-2.85908809e-03 9.99614388e-01 2.76206481e-02 9.86321618e-02] [-6.50800006e-04 -2.76226151e-02 9.99618211e-01 -2.38959845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95719347 meters Centerline goodness : 0.899100 Centerline is valid? [False, False] Translation: X:16.16, Y:0.09, Z:-2.39 [[ 9.99986902e-01 4.94339768e-03 1.32581878e-03 1.61561806e+01] [-4.98436007e-03 9.99445789e-01 3.29130910e-02 9.25101497e-02] [-1.16238150e-03 -3.29192683e-02 9.99457338e-01 -2.39096200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98719347 meters Centerline goodness : 0.900235 Centerline is valid? [False, False] Translation: X:16.16, Y:0.09, Z:-2.39 [[ 9.99984482e-01 5.49414615e-03 9.22543082e-04 1.61571653e+01] [-5.52221684e-03 9.99412161e-01 3.38354525e-02 8.96931770e-02] [-7.36103854e-04 -3.38400219e-02 9.99426991e-01 -2.39101277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01719347 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:16.19, Y:0.09, Z:-2.39 [[ 9.99974127e-01 6.97412280e-03 -1.76271314e-03 1.61851682e+01] [-6.92131578e-03 9.99573475e-01 2.83718613e-02 8.72861141e-02] [ 1.95983015e-03 -2.83589269e-02 9.99595884e-01 -2.38875111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04719347 meters Centerline goodness : 0.898346 Centerline is valid? [False, False] Translation: X:16.20, Y:0.08, Z:-2.39 [[ 9.99941563e-01 8.64702112e-03 -6.48835471e-03 1.61953445e+01] [-8.47798072e-03 9.99635211e-01 2.56430941e-02 8.31015903e-02] [ 6.70772421e-03 -2.55865875e-02 9.99650105e-01 -2.38777702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07719347 meters Centerline goodness : 0.895732 Centerline is valid? [False, False] Translation: X:16.22, Y:0.08, Z:-2.39 [[ 9.99951229e-01 7.53006659e-03 -6.39040362e-03 1.62170705e+01] [-7.36322806e-03 9.99641516e-01 2.57414466e-02 7.87582665e-02] [ 6.58194757e-03 -2.56931372e-02 9.99648208e-01 -2.38904486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10719347 meters Centerline goodness : 0.896363 Centerline is valid? [False, False] Translation: X:16.24, Y:0.07, Z:-2.39 [[ 9.99966909e-01 6.54696597e-03 -4.82886765e-03 1.62370940e+01] [-6.39602546e-03 9.99510095e-01 3.06375707e-02 6.61423329e-02] [ 5.02708510e-03 -3.06056713e-02 9.99518895e-01 -2.39008609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13719347 meters Centerline goodness : 0.896018 Centerline is valid? [False, False] Translation: X:16.26, Y:0.06, Z:-2.39 [[ 9.99971893e-01 4.52079396e-03 -5.98127796e-03 1.62620996e+01] [-4.27878300e-03 9.99195574e-01 3.98735145e-02 6.01056836e-02] [ 6.15672640e-03 -3.98468012e-02 9.99186833e-01 -2.38640732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16719347 meters Centerline goodness : 0.897887 Centerline is valid? [False, False] Translation: X:16.26, Y:0.06, Z:-2.39 [[ 9.99980369e-01 5.49443270e-04 -6.24183679e-03 1.62624081e+01] [-3.16179343e-04 9.99303662e-01 3.73107379e-02 5.67396965e-02] [ 6.25799050e-03 -3.73080319e-02 9.99284218e-01 -2.38525574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19719347 meters Centerline goodness : 0.894817 Centerline is valid? [False, False] Translation: X:16.26, Y:0.05, Z:-2.38 [[ 9.99929694e-01 -9.88223498e-03 -6.55349130e-03 1.62624917e+01] [ 1.00638551e-02 9.99549230e-01 2.82852519e-02 5.00199115e-02] [ 6.27101568e-03 -2.83492166e-02 9.99578409e-01 -2.38391376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22719347 meters Centerline goodness : 0.894419 Centerline is valid? [False, False] Translation: X:16.28, Y:0.05, Z:-2.38 [[ 9.99884887e-01 -1.29801763e-02 -7.85664309e-03 1.62778054e+01] [ 1.30574557e-02 9.99866072e-01 9.86613771e-03 4.73198649e-02] [ 7.72752666e-03 -9.96758976e-03 9.99920463e-01 -2.38001148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25719347 meters Centerline goodness : 0.893974 Centerline is valid? [False, False] Translation: X:16.30, Y:0.04, Z:-2.38 [[ 9.99901730e-01 -1.23507907e-02 -6.63236849e-03 1.62954753e+01] [ 1.23300918e-02 9.99919011e-01 -3.15276859e-03 4.16017806e-02] [ 6.67077053e-03 3.07068106e-03 9.99973036e-01 -2.37967396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28719347 meters Centerline goodness : 0.894261 Centerline is valid? [False, False] Translation: X:16.29, Y:0.03, Z:-2.38 [[ 9.99811158e-01 -1.84418258e-02 -6.12758058e-03 1.62935500e+01] [ 1.83960865e-02 9.99803104e-01 -7.43884309e-03 3.26209743e-02] [ 6.26355993e-03 7.32471482e-03 9.99953557e-01 -2.37770200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31719347 meters Centerline goodness : 0.894697 Centerline is valid? [False, False] Translation: X:16.31, Y:0.03, Z:-2.38 [[ 9.99849677e-01 -1.73196620e-02 -8.07405397e-04 1.63062333e+01] [ 1.73069928e-02 9.99756496e-01 -1.36900547e-02 3.00836989e-02] [ 1.04431591e-03 1.36740230e-02 9.99905961e-01 -2.38205765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34719347 meters Centerline goodness : 0.895186 Centerline is valid? [False, False] Translation: X:16.31, Y:0.03, Z:-2.38 [[ 9.99838649e-01 -1.78884862e-02 -1.63617266e-03 1.63089215e+01] [ 1.78650511e-02 9.99751096e-01 -1.33635774e-02 2.73663638e-02] [ 1.87481958e-03 1.33321908e-02 9.99909365e-01 -2.38334634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37719347 meters Centerline goodness : 0.894759 Centerline is valid? [False, False] Translation: X:16.31, Y:0.02, Z:-2.39 [[ 9.99836282e-01 -1.79022062e-02 -2.63077858e-03 1.63131630e+01] [ 1.78678089e-02 9.99761423e-01 -1.25634140e-02 2.38282949e-02] [ 2.85506376e-03 1.25143509e-02 9.99917616e-01 -2.38624568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40719347 meters Centerline goodness : 0.895916 Centerline is valid? [False, False] Translation: X:16.32, Y:0.02, Z:-2.39 [[ 9.99870361e-01 -1.57002580e-02 -3.57261767e-03 1.63171426e+01] [ 1.56676315e-02 9.99836892e-01 -8.98408859e-03 1.58526661e-02] [ 3.71308746e-03 8.92694945e-03 9.99953260e-01 -2.38935800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43719347 meters Centerline goodness : 0.896824 Centerline is valid? [False, False] Translation: X:16.32, Y:0.01, Z:-2.39 [[ 9.99875731e-01 -1.52378948e-02 -4.04087787e-03 1.63187590e+01] [ 1.52051313e-02 9.99852243e-01 -8.01842741e-03 1.30799067e-02] [ 4.16246476e-03 7.95598889e-03 9.99959687e-01 -2.39025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46719346999998 meters Centerline goodness : 0.896824 Centerline is valid? [False, False] Translation: X:16.32, Y:0.01, Z:-2.39 [[ 9.99875731e-01 -1.52378948e-02 -4.04087787e-03 1.63187590e+01] [ 1.52051313e-02 9.99852243e-01 -8.01842741e-03 1.30799067e-02] [ 4.16246476e-03 7.95598889e-03 9.99959687e-01 -2.39025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49719346999998 meters Centerline goodness : 0.898144 Centerline is valid? [False, False] Translation: X:16.34, Y:0.01, Z:-2.39 [[ 9.99936618e-01 -1.07104556e-02 -3.47084728e-03 1.63382319e+01] [ 1.06445756e-02 9.99772679e-01 -1.84738789e-02 1.10874695e-02] [ 3.66792195e-03 1.84357623e-02 9.99823319e-01 -2.39117633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52719347 meters Centerline goodness : 0.896742 Centerline is valid? [False, False] Translation: X:16.35, Y:0.01, Z:-2.40 [[ 9.99973556e-01 -7.27237438e-03 -2.19638788e-05 1.63511395e+01] [ 7.26981903e-03 9.99693643e-01 -2.36594449e-02 5.37729729e-03] [ 1.94017491e-04 2.36586595e-02 9.99720076e-01 -2.39503314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55719347 meters Centerline goodness : 0.900574 Centerline is valid? [False, False] Translation: X:16.36, Y:0.00, Z:-2.40 [[ 9.99975134e-01 -4.92083464e-03 5.05144866e-03 1.63632155e+01] [ 5.06944535e-03 9.99541808e-01 -2.98408139e-02 4.24246160e-03] [-4.90229241e-03 2.98656799e-02 9.99541899e-01 -2.39909513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58719347 meters Centerline goodness : 0.899768 Centerline is valid? [False, False] Translation: X:16.38, Y:0.00, Z:-2.40 [[ 9.99977386e-01 -2.94129026e-03 6.04785526e-03 1.63837494e+01] [ 3.09535613e-03 9.99666836e-01 -2.56249185e-02 4.12631081e-04] [-5.97047000e-03 2.56430593e-02 9.99653333e-01 -2.40022873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61719347 meters Centerline goodness : 0.899899 Centerline is valid? [False, False] Translation: X:16.39, Y:-0.00, Z:-2.40 [[ 9.99980849e-01 -2.91599122e-03 5.45890045e-03 1.63852867e+01] [ 3.05201912e-03 9.99680830e-01 -2.50783378e-02 -1.02603728e-03] [-5.38402992e-03 2.50945182e-02 9.99670584e-01 -2.40078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64719347 meters Centerline goodness : 0.899671 Centerline is valid? [False, False] Translation: X:16.41, Y:-0.01, Z:-2.40 [[ 9.99989963e-01 -3.86869885e-03 2.25996485e-03 1.64104272e+01] [ 3.92035697e-03 9.99720384e-01 -2.33191801e-02 -7.43204662e-03] [-2.16911804e-03 2.33278059e-02 9.99725517e-01 -2.40348242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67719347 meters Centerline goodness : 0.901798 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.01, Z:-2.41 [[ 9.99991275e-01 -4.15258039e-03 4.53219237e-04 1.64336027e+01] [ 4.16161183e-03 9.99745316e-01 -2.21807271e-02 -1.04261537e-02] [-3.60996557e-04 2.21824197e-02 9.99753875e-01 -2.40525820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70719347 meters Centerline goodness : 0.899226 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.01, Z:-2.41 [[ 9.99989999e-01 -4.47232270e-03 -2.15596386e-05 1.64349980e+01] [ 4.47076902e-03 9.99748536e-01 -2.19744662e-02 -1.14499260e-02] [ 1.19831121e-04 2.19741501e-02 9.99758532e-01 -2.40585199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73719347 meters Centerline goodness : 0.902306 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.02, Z:-2.41 [[ 9.99980558e-01 -6.04028308e-03 1.54906417e-03 1.64556892e+01] [ 6.07135152e-03 9.99763053e-01 -2.09039938e-02 -1.51550942e-02] [-1.42243108e-03 2.09129923e-02 9.99780288e-01 -2.40701613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76719347 meters Centerline goodness : 0.902163 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.02, Z:-2.41 [[ 9.99968925e-01 -7.83426707e-03 8.79118925e-04 1.64581401e+01] [ 7.85174201e-03 9.99726265e-01 -2.20396362e-02 -1.71292140e-02] [-7.06213883e-04 2.20458539e-02 9.99756711e-01 -2.40830458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79719347 meters Centerline goodness : 0.902200 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.02, Z:-2.41 [[ 9.99956968e-01 -9.27187120e-03 3.06142727e-04 1.64602465e+01] [ 9.27642917e-03 9.99699864e-01 -2.26744213e-02 -1.91555175e-02] [-9.58165289e-05 2.26762855e-02 9.99742855e-01 -2.40929364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82719347 meters Centerline goodness : 0.904185 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.02, Z:-2.41 [[ 9.99897383e-01 -1.24242616e-02 7.13175402e-03 1.64713257e+01] [ 1.25453013e-02 9.99773606e-01 -1.71858176e-02 -2.21445525e-02] [-6.91661834e-03 1.72735240e-02 9.99826878e-01 -2.41323138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85719347 meters Centerline goodness : 0.902275 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.03, Z:-2.41 [[ 9.99856043e-01 -1.41946237e-02 9.29550323e-03 1.64909924e+01] [ 1.43439843e-02 9.99765821e-01 -1.62035072e-02 -2.57526694e-02] [-9.06332373e-03 1.63345092e-02 9.99825505e-01 -2.41378713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88719347 meters Centerline goodness : 0.902664 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.03, Z:-2.41 [[ 9.99852996e-01 -1.45937607e-02 9.00052238e-03 1.64917209e+01] [ 1.47341189e-02 9.99767702e-01 -1.57304538e-02 -2.80065606e-02] [-8.76886511e-03 1.58607561e-02 9.99835758e-01 -2.41387824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91719347 meters Centerline goodness : 0.907203 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.03, Z:-2.42 [[ 9.99830405e-01 -1.63897398e-02 8.39865944e-03 1.64942515e+01] [ 1.65306842e-02 9.99718887e-01 -1.69965608e-02 -2.97992733e-02] [-8.11772926e-03 1.71325138e-02 9.99820274e-01 -2.41540792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94719347 meters Centerline goodness : 0.905209 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.03, Z:-2.42 [[ 9.99792654e-01 -1.88461023e-02 7.71187634e-03 1.64969457e+01] [ 1.89907540e-02 9.99636543e-01 -1.91346116e-02 -3.12045587e-02] [-7.34846056e-03 1.92770984e-02 9.99787174e-01 -2.41693941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97719347 meters Centerline goodness : 0.905847 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.03, Z:-2.42 [[ 9.99786895e-01 -1.93640035e-02 7.15543300e-03 1.64983418e+01] [ 1.94950587e-02 9.99634617e-01 -1.87236776e-02 -3.35386813e-02] [-6.79025317e-03 1.88591831e-02 9.99799092e-01 -2.41729054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00719347 meters Centerline goodness : 0.904657 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.04, Z:-2.42 [[ 9.99853186e-01 -1.58182875e-02 6.58690582e-03 1.64998700e+01] [ 1.59123710e-02 9.99768467e-01 -1.44847664e-02 -3.50352482e-02] [-6.35625653e-03 1.45874531e-02 9.99873394e-01 -2.41792476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03719347 meters Centerline goodness : 0.903147 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.03, Z:-2.42 [[ 9.99888711e-01 -1.38211244e-02 5.61631211e-03 1.65035320e+01] [ 1.38895929e-02 9.99827380e-01 -1.23405713e-02 -3.48042544e-02] [-5.44478205e-03 1.24172062e-02 9.99908079e-01 -2.42026875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06719347 meters Centerline goodness : 0.898125 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.03, Z:-2.42 [[ 9.99922032e-01 -1.15556799e-02 4.73238283e-03 1.65068664e+01] [ 1.16022776e-02 9.99883281e-01 -9.94042420e-03 -3.45546329e-02] [-4.61696211e-03 9.99455559e-03 9.99939394e-01 -2.42235218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09719347 meters Centerline goodness : 0.902016 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.03, Z:-2.43 [[ 9.99938469e-01 -7.23036583e-03 8.41304445e-03 1.65198314e+01] [ 7.35691086e-03 9.99858786e-01 -1.51090834e-02 -3.36223870e-02] [-8.30261220e-03 1.51700477e-02 9.99850457e-01 -2.42645434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12719347 meters Centerline goodness : 0.902598 Centerline is valid? [False, False] Translation: X:16.53, Y:-0.03, Z:-2.43 [[ 9.99902400e-01 -2.11715210e-03 1.38096928e-02 1.65301565e+01] [ 2.39420760e-03 9.99795574e-01 -2.00768138e-02 -3.23111430e-02] [-1.37643640e-02 2.01079176e-02 9.99703063e-01 -2.42927881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15719347 meters Centerline goodness : 0.902330 Centerline is valid? [False, False] Translation: X:16.53, Y:-0.03, Z:-2.43 [[ 9.99907889e-01 1.14229478e-03 1.35243370e-02 1.65307673e+01] [-9.19907521e-04 9.99864459e-01 -1.64383041e-02 -3.25190465e-02] [-1.35412813e-02 1.64243488e-02 9.99773412e-01 -2.42913808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18719347 meters Centerline goodness : 0.900145 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.03, Z:-2.43 [[ 9.99894964e-01 2.52659901e-03 1.42715659e-02 1.65517567e+01] [-2.27768410e-03 9.99845479e-01 -1.74307247e-02 -3.06099043e-02] [-1.43134011e-02 1.73963877e-02 9.99746214e-01 -2.43044902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21719346999998 meters Centerline goodness : 0.899727 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.03, Z:-2.43 [[ 9.99918161e-01 8.66587823e-03 9.41136736e-03 1.65811766e+01] [-8.49578545e-03 9.99802518e-01 -1.79651588e-02 -2.65294905e-02] [-9.56519266e-03 1.78837316e-02 9.99794318e-01 -2.43193019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24719346999998 meters Centerline goodness : 0.896204 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.02, Z:-2.43 [[ 9.99891912e-01 1.10581911e-02 9.68925274e-03 1.66024400e+01] [-1.08761384e-02 9.99767018e-01 -1.86445679e-02 -2.48310804e-02] [-9.89317051e-03 1.85371710e-02 9.99779225e-01 -2.43348669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27719347 meters Centerline goodness : 0.898219 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.03, Z:-2.43 [[ 9.99846864e-01 1.48547324e-02 9.25128937e-03 1.66032999e+01] [-1.47161617e-02 9.99781125e-01 -1.48706823e-02 -2.57001440e-02] [-9.47016450e-03 1.47322616e-02 9.99846626e-01 -2.43326346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30719347 meters Centerline goodness : 0.897696 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.03, Z:-2.43 [[ 9.99803799e-01 1.78876047e-02 8.50860119e-03 1.66053896e+01] [-1.77861941e-02 9.99771605e-01 -1.18485885e-02 -2.59047623e-02] [-8.71860074e-03 1.16949281e-02 9.99893602e-01 -2.43382650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33719347 meters Centerline goodness : 0.899363 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99711081e-01 2.24976617e-02 8.46229351e-03 1.66050014e+01] [-2.24232627e-02 9.99709957e-01 -8.78630225e-03 -2.25684387e-02] [-8.65751034e-03 8.59401149e-03 9.99925592e-01 -2.43210254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36719347 meters Centerline goodness : 0.899642 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99708065e-01 2.27678362e-02 8.08769643e-03 1.66052943e+01] [-2.26897098e-02 9.99696234e-01 -9.62378531e-03 -1.96855693e-02] [-8.30435243e-03 9.43746831e-03 9.99920983e-01 -2.43097823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39719347 meters Centerline goodness : 0.896458 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99701742e-01 2.32311334e-02 7.53271353e-03 1.66060015e+01] [-2.31548224e-02 9.99681231e-01 -1.00643344e-02 -1.76310144e-02] [-7.76411822e-03 9.88691394e-03 9.99920981e-01 -2.43000798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42719347 meters Centerline goodness : 0.895668 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.02, Z:-2.43 [[ 9.99702192e-01 2.32600996e-02 7.38201610e-03 1.66054982e+01] [-2.31797553e-02 9.99673096e-01 -1.07888765e-02 -1.62142421e-02] [-7.63055323e-03 1.06145502e-02 9.99914549e-01 -2.42836464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45719347 meters Centerline goodness : 0.895512 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.02, Z:-2.42 [[ 9.99679519e-01 2.40173970e-02 8.00151550e-03 1.66018857e+01] [-2.39365652e-02 9.99662971e-01 -1.00491516e-02 -1.93004687e-02] [-8.24017321e-03 9.85440222e-03 9.99917492e-01 -2.42450871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48719347 meters Centerline goodness : 0.894843 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.02, Z:-2.42 [[ 9.99673093e-01 2.43803150e-02 7.70109581e-03 1.66019502e+01] [-2.43096204e-02 9.99662660e-01 -9.14378409e-03 -2.27727141e-02] [-7.92142625e-03 8.95358421e-03 9.99928540e-01 -2.42374304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51719347 meters Centerline goodness : 0.905103 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.03, Z:-2.42 [[ 9.99660520e-01 2.50559693e-02 7.14439202e-03 1.66031762e+01] [-2.49995100e-02 9.99656364e-01 -7.88534757e-03 -2.62573378e-02] [-7.33951197e-03 7.70406436e-03 9.99943388e-01 -2.42406025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54719347 meters Centerline goodness : 0.898660 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.03, Z:-2.43 [[ 9.99587610e-01 2.79723406e-02 6.49293843e-03 1.66059202e+01] [-2.79428841e-02 9.99599011e-01 -4.58395738e-03 -3.11408960e-02] [-6.61855885e-03 4.40063557e-03 9.99968414e-01 -2.42635239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57719347 meters Centerline goodness : 0.902770 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.03, Z:-2.43 [[ 9.99542265e-01 2.97209418e-02 5.65037120e-03 1.66095792e+01] [-2.97076477e-02 9.99555695e-01 -2.42235328e-03 -3.39012970e-02] [-5.71985533e-03 2.25338525e-03 9.99981103e-01 -2.42921345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60719347 meters Centerline goodness : 0.901169 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.04, Z:-2.43 [[ 9.99517923e-01 3.07639670e-02 4.18334769e-03 1.66152041e+01] [-3.07621241e-02 9.99526607e-01 -5.04176619e-04 -3.80309599e-02] [-4.19687779e-03 3.75244906e-04 9.99991123e-01 -2.43330003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63719347 meters Centerline goodness : 0.895179 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.04, Z:-2.44 [[ 9.99483638e-01 3.19762610e-02 3.15848904e-03 1.66194178e+01] [-3.19837564e-02 9.99485622e-01 2.35180868e-03 -4.49380339e-02] [-3.08166234e-03 -2.45161464e-03 9.99992246e-01 -2.43686017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66719347 meters Centerline goodness : 0.897079 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.06, Z:-2.44 [[ 9.99621807e-01 2.74591525e-02 1.49617281e-03 1.66236875e+01] [-2.74593642e-02 9.99622913e-01 1.21133616e-04 -5.74832062e-02] [-1.49228239e-03 -1.62171758e-04 9.99998873e-01 -2.43969929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69719347 meters Centerline goodness : 0.898080 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.06, Z:-2.44 [[ 9.99759603e-01 2.19144994e-02 7.00453627e-04 1.66246082e+01] [-2.19106859e-02 9.99747160e-01 -5.05358180e-03 -6.18855201e-02] [-8.11023239e-04 5.03701951e-03 9.99986985e-01 -2.43960255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72719347 meters Centerline goodness : 0.897643 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.07, Z:-2.44 [[ 9.99818511e-01 1.90505684e-02 1.41445475e-04 1.66255735e+01] [-1.90493256e-02 9.99799321e-01 -6.20002436e-03 -6.81464106e-02] [-2.59531078e-04 6.19620468e-03 9.99980770e-01 -2.44022640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75719347 meters Centerline goodness : 0.898407 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.07, Z:-2.44 [[ 9.99870249e-01 1.61021153e-02 -4.54573915e-04 1.66266561e+01] [-1.61050857e-02 9.99841889e-01 -7.53810043e-03 -7.40719779e-02] [ 3.33122679e-04 7.54444331e-03 9.99971485e-01 -2.44087945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78719347 meters Centerline goodness : 0.896959 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.09, Z:-2.44 [[ 9.99949185e-01 1.00267003e-02 -1.04536388e-03 1.66279238e+01] [-1.00375194e-02 9.99890034e-01 -1.09164003e-02 -8.65659750e-02] [ 9.35793453e-04 1.09263384e-02 9.99939868e-01 -2.44103439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81719347 meters Centerline goodness : 0.897735 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.09, Z:-2.44 [[ 9.99988312e-01 3.45138679e-03 3.38585732e-03 1.66404796e+01] [-3.42319718e-03 9.99959724e-01 -8.29645458e-03 -9.37771354e-02] [-3.41435523e-03 8.28476715e-03 9.99959852e-01 -2.44465356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84719347 meters Centerline goodness : 0.899150 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.10, Z:-2.45 [[ 9.99995480e-01 -1.39112193e-03 2.66546735e-03 1.66427888e+01] [ 1.42265187e-03 9.99928610e-01 -1.18638926e-02 -9.95939710e-02] [-2.64877294e-03 1.18676310e-02 9.99926069e-01 -2.44558544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87719347 meters Centerline goodness : 0.902002 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.11, Z:-2.44 [[ 9.99954837e-01 -8.97916582e-03 3.11437344e-03 1.66408410e+01] [ 9.02877204e-03 9.99826418e-01 -1.62976803e-02 -1.08834176e-01] [-2.96749327e-03 1.63250632e-02 9.99862334e-01 -2.44275942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90719347 meters Centerline goodness : 0.903790 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.11, Z:-2.44 [[ 9.99912119e-01 -1.29586149e-02 2.79808983e-03 1.66416069e+01] [ 1.30104345e-02 9.99727687e-01 -1.93721404e-02 -1.11586151e-01] [-2.54629177e-03 1.94068423e-02 9.99808427e-01 -2.44262002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93719347 meters Centerline goodness : 0.905272 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.11, Z:-2.44 [[ 9.99851878e-01 -1.70359581e-02 2.44911329e-03 1.66426852e+01] [ 1.70871895e-02 9.99596473e-01 -2.26918433e-02 -1.13813317e-01] [-2.06154772e-03 2.27303306e-02 9.99739507e-01 -2.44280752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96719346999998 meters Centerline goodness : 0.906794 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.12, Z:-2.44 [[ 9.99837274e-01 -1.79333002e-02 1.95496673e-03 1.66440237e+01] [ 1.79722099e-02 9.99593396e-01 -2.21369006e-02 -1.17935468e-01] [-1.55718415e-03 2.21684334e-02 9.99753037e-01 -2.44294107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99719346999998 meters Centerline goodness : 0.906384 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.12, Z:-2.44 [[ 9.99828468e-01 -1.84512627e-02 1.60818034e-03 1.66447095e+01] [ 1.84813216e-02 9.99602775e-01 -2.12775314e-02 -1.22294359e-01] [-1.21494421e-03 2.13036029e-02 9.99772314e-01 -2.44262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02719347 meters Centerline goodness : 0.906720 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.13, Z:-2.44 [[ 9.99746999e-01 -2.24316953e-02 1.66056686e-03 1.66443427e+01] [ 2.24651198e-02 9.99459273e-01 -2.40099833e-02 -1.26914045e-01] [-1.12108432e-03 2.40412136e-02 9.99710340e-01 -2.44170057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05719347 meters Centerline goodness : 0.906127 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99741583e-01 -2.27026527e-02 1.16457925e-03 1.66456177e+01] [ 2.27239876e-02 9.99456898e-01 -2.38648085e-02 -1.27437115e-01] [-6.22152305e-04 2.38851053e-02 9.99714517e-01 -2.44193726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08719347 meters Centerline goodness : 0.907990 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99811020e-01 -1.94342088e-02 4.85105618e-04 1.66471973e+01] [ 1.94399970e-02 9.99616410e-01 -1.97260951e-02 -1.28656396e-01] [-1.01558486e-04 1.97317977e-02 9.99805304e-01 -2.44215808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11719347 meters Centerline goodness : 0.906607 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99880079e-01 -1.54862116e-02 7.04067196e-05 1.66477146e+01] [ 1.54853480e-02 9.99751381e-01 -1.60430654e-02 -1.26589448e-01] [ 1.78057091e-04 1.60422318e-02 9.99871299e-01 -2.44170075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14719347 meters Centerline goodness : 0.909541 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.13, Z:-2.44 [[ 9.99928752e-01 -1.19148605e-02 -7.26635085e-04 1.66491019e+01] [ 1.19048917e-02 9.99851588e-01 -1.24529472e-02 -1.25285660e-01] [ 8.74902372e-04 1.24434094e-02 9.99922195e-01 -2.44136916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17719347 meters Centerline goodness : 0.907229 Centerline is valid? [False, False] Translation: X:16.66, Y:-0.12, Z:-2.44 [[ 9.99969129e-01 -6.35074820e-03 4.62705638e-03 1.66628852e+01] [ 6.41641342e-03 9.99876909e-01 -1.43177114e-02 -1.22636860e-01] [-4.53555865e-03 1.43469585e-02 9.99886790e-01 -2.44417043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20719347 meters Centerline goodness : 0.907169 Centerline is valid? [False, False] Translation: X:16.66, Y:-0.12, Z:-2.44 [[ 9.99989327e-01 -2.38496299e-03 3.95705904e-03 1.66636145e+01] [ 2.42655438e-03 9.99941515e-01 -1.05393876e-02 -1.21844454e-01] [-3.93169156e-03 1.05488772e-02 9.99936629e-01 -2.44316475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23719347 meters Centerline goodness : 0.907429 Centerline is valid? [False, False] Translation: X:16.69, Y:-0.12, Z:-2.45 [[ 9.99985091e-01 2.91677684e-03 4.61632460e-03 1.66850012e+01] [-2.86035750e-03 9.99921712e-01 -1.21814733e-02 -1.17815278e-01] [-4.65149384e-03 1.21680874e-02 9.99915147e-01 -2.44635119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26719347 meters Centerline goodness : 0.908499 Centerline is valid? [False, False] Translation: X:16.71, Y:-0.12, Z:-2.45 [[ 9.99979137e-01 5.98807967e-03 2.42261617e-03 1.67072057e+01] [-5.95452232e-03 9.99889383e-01 -1.36295632e-02 -1.16272320e-01] [-2.50396310e-03 1.36148534e-02 9.99904178e-01 -2.44814717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29719347 meters Centerline goodness : 0.904324 Centerline is valid? [False, False] Translation: X:16.73, Y:-0.11, Z:-2.45 [[ 9.99967947e-01 7.10261188e-03 3.69561676e-03 1.67273984e+01] [-7.03451022e-03 9.99810975e-01 -1.81254066e-02 -1.12723673e-01] [-3.82365592e-03 1.80988288e-02 9.99828891e-01 -2.45113310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32719347 meters Centerline goodness : 0.903043 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.11, Z:-2.45 [[ 9.99901223e-01 1.40504050e-02 3.60416668e-04 1.67582372e+01] [-1.40373869e-02 9.99602240e-01 -2.44604324e-02 -1.08902126e-01] [-7.03952290e-04 2.44529570e-02 9.99700734e-01 -2.45216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35719347 meters Centerline goodness : 0.902585 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.11, Z:-2.45 [[ 9.99853582e-01 1.71027395e-02 -5.58142555e-04 1.67612302e+01] [-1.71106940e-02 9.99632606e-01 -2.10208941e-02 -1.08723719e-01] [ 1.98422621e-04 2.10273665e-02 9.99778881e-01 -2.45350829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38719347 meters Centerline goodness : 0.902585 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.11, Z:-2.45 [[ 9.99853582e-01 1.71027395e-02 -5.58142555e-04 1.67612302e+01] [-1.71106940e-02 9.99632606e-01 -2.10208941e-02 -1.08723719e-01] [ 1.98422621e-04 2.10273665e-02 9.99778881e-01 -2.45350829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41719347 meters Centerline goodness : 0.902442 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.11, Z:-2.46 [[ 9.99826138e-01 1.85662488e-02 -1.72873348e-03 1.67652832e+01] [-1.85960366e-02 9.99642759e-01 -1.91974194e-02 -1.08940279e-01] [ 1.37169184e-03 1.92262293e-02 9.99814218e-01 -2.45563371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44719347 meters Centerline goodness : 0.902168 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.11, Z:-2.46 [[ 9.99819401e-01 1.88536502e-02 -2.38859269e-03 1.67671207e+01] [-1.88948910e-02 9.99648188e-01 -1.86140463e-02 -1.10254836e-01] [ 2.03680964e-03 1.86558168e-02 9.99823890e-01 -2.45638806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47719347 meters Centerline goodness : 0.897816 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.11, Z:-2.46 [[ 9.99832641e-01 1.80064072e-02 -3.23408094e-03 1.67701390e+01] [-1.80640064e-02 9.99660742e-01 -1.87641549e-02 -1.14362149e-01] [ 2.89510874e-03 1.88194350e-02 9.99818707e-01 -2.45818221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50719347 meters Centerline goodness : 0.897047 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.12, Z:-2.46 [[ 9.99847954e-01 1.69529319e-02 -4.08264332e-03 1.67728569e+01] [-1.70281307e-02 9.99671635e-01 -1.91484853e-02 -1.15827899e-01] [ 3.75667976e-03 1.92150936e-02 9.99808315e-01 -2.45951205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53719347 meters Centerline goodness : 0.896205 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.12, Z:-2.46 [[ 9.99901068e-01 1.39160165e-02 2.04927482e-03 1.67840746e+01] [-1.38851048e-02 9.99799958e-01 -1.43960997e-02 -1.18234591e-01] [-2.24920124e-03 1.43662211e-02 9.99894271e-01 -2.46339667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56719347 meters Centerline goodness : 0.898086 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.12, Z:-2.46 [[ 9.99900014e-01 1.40497500e-02 1.60184411e-03 1.67848195e+01] [-1.40261336e-02 9.99804904e-01 -1.39076042e-02 -1.19644991e-01] [-1.79692996e-03 1.38837460e-02 9.99902002e-01 -2.46303250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59719347 meters Centerline goodness : 0.897756 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.12, Z:-2.47 [[ 9.99857062e-01 1.32620746e-02 1.04868194e-02 1.67937215e+01] [-1.31594567e-02 9.99865438e-01 -9.79460801e-03 -1.24004270e-01] [-1.06153051e-02 9.65520714e-03 9.99897041e-01 -2.46526939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62719347 meters Centerline goodness : 0.898761 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.13, Z:-2.46 [[ 9.99865632e-01 1.29742980e-02 1.00193053e-02 1.67945857e+01] [-1.28815880e-02 9.99874124e-01 -9.26288509e-03 -1.26524241e-01] [-1.01382235e-02 9.13257589e-03 9.99906902e-01 -2.46493824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65719347 meters Centerline goodness : 0.896927 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.13, Z:-2.47 [[ 9.99888669e-01 1.16522060e-02 9.32073012e-03 1.67965044e+01] [-1.15638994e-02 9.99888266e-01 -9.47265507e-03 -1.30068098e-01] [-9.43006601e-03 9.36381649e-03 9.99911692e-01 -2.46532567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68719347 meters Centerline goodness : 0.898314 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.13, Z:-2.47 [[ 9.99933860e-01 7.44610603e-03 8.76536778e-03 1.67974177e+01] [-7.33400345e-03 9.99891785e-01 -1.27526730e-02 -1.33051072e-01] [-8.85937699e-03 1.26875443e-02 9.99880262e-01 -2.46502267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71719346999998 meters Centerline goodness : 0.907788 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.14, Z:-2.46 [[ 9.99957725e-01 -7.75964924e-04 9.16216315e-03 1.67958281e+01] [ 9.39760363e-04 9.99839580e-01 -1.78866266e-02 -1.41527742e-01] [-9.14681396e-03 1.78944807e-02 9.99798041e-01 -2.46249974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74719346999998 meters Centerline goodness : 0.909422 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.15, Z:-2.46 [[ 9.99949561e-01 -5.32346681e-03 8.51679423e-03 1.67975253e+01] [ 5.50142200e-03 9.99764141e-01 -2.10094654e-02 -1.45864495e-01] [-8.40294227e-03 2.10552602e-02 9.99743000e-01 -2.46285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77719347 meters Centerline goodness : 0.901297 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.15, Z:-2.46 [[ 9.99918941e-01 -1.00307350e-02 7.84193423e-03 1.67997474e+01] [ 1.02185118e-02 9.99652885e-01 -2.42835818e-02 -1.50305001e-01] [-7.59563000e-03 2.43617463e-02 9.99674353e-01 -2.46382741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80719347 meters Centerline goodness : 0.901139 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.16, Z:-2.47 [[ 9.99796153e-01 -1.90240095e-02 6.76302703e-03 1.68038407e+01] [ 1.92257184e-02 9.99330450e-01 -3.11291524e-02 -1.56063493e-01] [-6.16629755e-03 3.12528309e-02 9.99492490e-01 -2.46618917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83719347 meters Centerline goodness : 0.900127 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.16, Z:-2.47 [[ 9.99765832e-01 -2.07503046e-02 6.14053035e-03 1.68066617e+01] [ 2.09357728e-02 9.99272978e-01 -3.18623295e-02 -1.58693174e-01] [-5.47491301e-03 3.19834251e-02 9.99473404e-01 -2.46801838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86719347 meters Centerline goodness : 0.901075 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.16, Z:-2.47 [[ 9.99758000e-01 -2.13132872e-02 5.44833861e-03 1.68089089e+01] [ 2.14753448e-02 9.99268169e-01 -3.16533801e-02 -1.60659455e-01] [-4.76971376e-03 3.17627249e-02 9.99484056e-01 -2.46914260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89719347 meters Centerline goodness : 0.898974 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.16, Z:-2.47 [[ 9.99809336e-01 -1.92102407e-02 3.50115323e-03 1.68317017e+01] [ 1.93103866e-02 9.99324840e-01 -3.12565822e-02 -1.62554054e-01] [-2.89834293e-03 3.13182313e-02 9.99505262e-01 -2.47068795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92719347 meters Centerline goodness : 0.898275 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.16, Z:-2.47 [[ 9.99928150e-01 -1.18842741e-02 1.56829925e-03 1.68551975e+01] [ 1.19225650e-02 9.99558504e-01 -2.72148904e-02 -1.60867077e-01] [-1.24417764e-03 2.72316331e-02 9.99628376e-01 -2.47266495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95719347 meters Centerline goodness : 0.899367 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.16, Z:-2.48 [[ 9.99966397e-01 -5.83426423e-03 5.75897982e-03 1.68676088e+01] [ 6.01456764e-03 9.99476030e-01 -3.18039470e-02 -1.57960444e-01] [-5.57040966e-03 3.18375160e-02 9.99477535e-01 -2.47656148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98719347 meters Centerline goodness : 0.899148 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.16, Z:-2.48 [[ 9.99974955e-01 -5.91153229e-04 7.05258285e-03 1.68876459e+01] [ 8.08801889e-04 9.99522215e-01 -3.08980204e-02 -1.56639683e-01] [-7.03094777e-03 3.09029507e-02 9.99497661e-01 -2.47776890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01719347 meters Centerline goodness : 0.895792 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.16, Z:-2.48 [[ 9.99973735e-01 3.40848981e-03 6.39625960e-03 1.68886772e+01] [-3.23424983e-03 9.99628678e-01 -2.70563258e-02 -1.55358321e-01] [-6.48610575e-03 2.70349280e-02 9.99613447e-01 -2.47717849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04719347 meters Centerline goodness : 0.900057 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.15, Z:-2.48 [[ 9.99887972e-01 1.08921767e-02 1.02666490e-02 1.69050215e+01] [-1.06387626e-02 9.99645109e-01 -2.44228095e-02 -1.50423006e-01] [-1.05290230e-02 2.43108490e-02 9.99649000e-01 -2.47632919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07719347 meters Centerline goodness : 0.901225 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.15, Z:-2.48 [[ 9.99843506e-01 1.47027555e-02 9.83831455e-03 1.69053295e+01] [-1.44997635e-02 9.99686842e-01 -2.03954545e-02 -1.50048181e-01] [-1.01351030e-02 2.02496095e-02 9.99743584e-01 -2.47507772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10719347 meters Centerline goodness : 0.903303 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.15, Z:-2.48 [[ 9.99811123e-01 1.71525068e-02 9.13833962e-03 1.69074461e+01] [-1.69898361e-02 9.99700912e-01 -1.75906801e-02 -1.49924272e-01] [-9.43733072e-03 1.74320988e-02 9.99803510e-01 -2.47563985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13719347 meters Centerline goodness : 0.903214 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.15, Z:-2.48 [[ 9.99787014e-01 1.79384670e-02 1.02048081e-02 1.69283256e+01] [-1.77042119e-02 9.99587809e-01 -2.26003035e-02 -1.46831269e-01] [-1.06060166e-02 2.24148219e-02 9.99692497e-01 -2.47841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16719347 meters Centerline goodness : 0.901673 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.15, Z:-2.48 [[ 9.99723004e-01 1.70805023e-02 1.61917266e-02 1.69399897e+01] [-1.68171580e-02 9.99726310e-01 -1.62631042e-02 -1.47447169e-01] [-1.64650770e-02 1.59863006e-02 9.99736635e-01 -2.48282774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19719347 meters Centerline goodness : 0.903544 Centerline is valid? [False, False] Translation: X:16.96, Y:-0.15, Z:-2.48 [[ 0.99964425 0.01868528 0.0190322 16.95845542] [-0.01830601 0.99963416 -0.01991078 -0.14575914] [-0.01939728 0.0195553 0.9996206 -2.48494045] [ 0. 0. 0. 1. ]] SLAMing on 173.22719347 meters Centerline goodness : 0.905388 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.14, Z:-2.49 [[ 0.99956553 0.0188641 0.02264715 16.97504144] [-0.01826353 0.99948358 -0.02643885 -0.14331871] [-0.0231342 0.02601375 0.99939386 -2.48764015] [ 0. 0. 0. 1. ]] SLAMing on 173.25719347 meters Centerline goodness : 0.903027 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.14, Z:-2.49 [[ 0.99944022 0.02285327 0.024433 16.99538749] [-0.02218439 0.99938095 -0.02730518 -0.14300865] [-0.02504189 0.02674787 0.9993285 -2.49015884] [ 0. 0. 0. 1. ]] SLAMing on 173.28719347 meters Centerline goodness : 0.903909 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.14, Z:-2.49 [[ 0.99943719 0.02340799 0.02402855 16.99647959] [-0.02276497 0.9993844 -0.0266941 -0.1440886 ] [-0.02463861 0.02613207 0.99935482 -2.49061222] [ 0. 0. 0. 1. ]] SLAMing on 173.31719347 meters Centerline goodness : 0.902579 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.15, Z:-2.49 [[ 0.99947837 0.02241506 0.02324992 16.99880816] [-0.02178375 0.99939643 -0.02705997 -0.1456668 ] [-0.02384244 0.02653939 0.9993634 -2.49169509] [ 0. 0. 0. 1. ]] SLAMing on 173.34719347 meters Centerline goodness : 0.904803 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.15, Z:-2.49 [[ 0.99948876 0.01957777 0.0252769 17.00866368] [-0.0190931 0.99963189 -0.01927548 -0.14967172] [-0.02564496 0.01878301 0.99949464 -2.49187207] [ 0. 0. 0. 1. ]] SLAMing on 173.37719347 meters Centerline goodness : 0.904178 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.15, Z:-2.49 [[ 9.99569199e-01 1.54983425e-02 2.49242517e-02 1.70091497e+01] [-1.49553718e-02 9.99649928e-01 -2.18256459e-02 -1.54928279e-01] [-2.52537878e-02 2.14434919e-02 9.99451061e-01 -2.49143784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40719347 meters Centerline goodness : 0.905046 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.16, Z:-2.49 [[ 9.99749659e-01 7.58705646e-03 2.10489034e-02 1.70097701e+01] [-7.35511842e-03 9.99911623e-01 -1.10746297e-02 -1.59778153e-01] [-2.11310670e-02 1.09170401e-02 9.99717108e-01 -2.49009356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43719347 meters Centerline goodness : 0.907982 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.16, Z:-2.49 [[ 9.99784125e-01 3.38546431e-03 2.04997911e-02 1.70115503e+01] [-3.08850716e-03 9.99890096e-01 -1.45002361e-02 -1.62510651e-01] [-2.05466281e-02 1.44337921e-02 9.99684701e-01 -2.49106120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46719346999998 meters Centerline goodness : 0.904916 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.17, Z:-2.49 [[ 9.99849785e-01 -7.84619121e-03 1.54546098e-02 1.70102309e+01] [ 7.95299323e-03 9.99944834e-01 -6.86139609e-03 -1.73084762e-01] [-1.53999214e-02 6.98327582e-03 9.99857028e-01 -2.48882418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49719346999998 meters Centerline goodness : 0.906526 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.18, Z:-2.49 [[ 9.99813898e-01 -1.26332851e-02 1.45797513e-02 1.70134934e+01] [ 1.27897864e-02 9.99861049e-01 -1.06912974e-02 -1.76217888e-01] [-1.44426592e-02 1.08757796e-02 9.99836550e-01 -2.49069028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52719347 meters Centerline goodness : 0.906891 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.18, Z:-2.49 [[ 9.99819932e-01 -1.48677554e-02 1.17921050e-02 1.70373515e+01] [ 1.50164309e-02 9.99807586e-01 -1.26213478e-02 -1.80631876e-01] [-1.16021849e-02 1.27961505e-02 9.99850813e-01 -2.49227229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55719347 meters Centerline goodness : 0.905369 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.19, Z:-2.49 [[ 9.99687371e-01 -2.43534116e-02 5.66322854e-03 1.70310128e+01] [ 2.44000492e-02 9.99667675e-01 -8.31728986e-03 -1.86505790e-01] [-5.45879212e-03 8.45287268e-03 9.99949374e-01 -2.48961727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58719347 meters Centerline goodness : 0.902490 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.19, Z:-2.49 [[ 9.99660210e-01 -2.56356168e-02 4.72020971e-03 1.70340603e+01] [ 2.56755021e-02 9.99633400e-01 -8.59262725e-03 -1.88491542e-01] [-4.49820199e-03 8.71090132e-03 9.99951942e-01 -2.49086969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61719347 meters Centerline goodness : 0.902945 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99644143e-01 -2.63898017e-02 3.89429296e-03 1.70362471e+01] [ 2.64227555e-02 9.99613275e-01 -8.66825043e-03 -1.89402889e-01] [-3.66403352e-03 8.76806373e-03 9.99954847e-01 -2.49146620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64719347 meters Centerline goodness : 0.903048 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99623550e-01 -2.72663211e-02 3.05064155e-03 1.70384449e+01] [ 2.72931728e-02 9.99585715e-01 -9.13682135e-03 -1.89430746e-01] [-2.80025021e-03 9.21664347e-03 9.99953605e-01 -2.49203411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67719347 meters Centerline goodness : 0.902735 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99616374e-01 -2.75787995e-02 2.55240651e-03 1.70396412e+01] [ 2.76009673e-02 9.99577592e-01 -9.10077058e-03 -1.89696648e-01] [-2.30034002e-03 9.16772817e-03 9.99955330e-01 -2.49215345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70719347 meters Centerline goodness : 0.904749 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.19, Z:-2.49 [[ 9.99614024e-01 -2.76944864e-02 2.19486861e-03 1.70394425e+01] [ 2.77136497e-02 9.99573168e-01 -9.24309851e-03 -1.89171734e-01] [-1.93794890e-03 9.30035872e-03 9.99954873e-01 -2.49068048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73719347 meters Centerline goodness : 0.904456 Centerline is valid? [False, False] Translation: X:17.06, Y:-0.19, Z:-2.49 [[ 9.99655105e-01 -2.56532308e-02 5.61985834e-03 1.70565542e+01] [ 2.57204944e-02 9.99594203e-01 -1.22427843e-02 -1.87303417e-01] [-5.30351085e-03 1.23831074e-02 9.99909262e-01 -2.49166274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76719347 meters Centerline goodness : 0.905431 Centerline is valid? [False, False] Translation: X:17.06, Y:-0.19, Z:-2.49 [[ 9.99726017e-01 -2.28862784e-02 4.91019252e-03 1.70582948e+01] [ 2.29315248e-02 9.99693171e-01 -9.36534744e-03 -1.86072292e-01] [-4.69434798e-03 9.47537969e-03 9.99944089e-01 -2.49206715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79719347 meters Centerline goodness : 0.906484 Centerline is valid? [False, False] Translation: X:17.09, Y:-0.18, Z:-2.49 [[ 9.99918243e-01 -1.24338687e-02 2.98442796e-03 1.70862437e+01] [ 1.24755180e-02 9.99818943e-01 -1.43680975e-02 -1.80014611e-01] [-2.80523657e-03 1.44041551e-02 9.99892320e-01 -2.49178058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82719347 meters Centerline goodness : 0.905561 Centerline is valid? [False, False] Translation: X:17.10, Y:-0.18, Z:-2.50 [[ 9.99951534e-01 -6.09983430e-03 7.72791794e-03 1.70994494e+01] [ 6.23737324e-03 9.99820320e-01 -1.79003803e-02 -1.75791689e-01] [-7.61734003e-03 1.79477147e-02 9.99809910e-01 -2.49581865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85719347 meters Centerline goodness : 0.904703 Centerline is valid? [False, False] Translation: X:17.12, Y:-0.17, Z:-2.50 [[ 9.99950565e-01 -8.83601807e-04 9.90382998e-03 1.71190968e+01] [ 1.05833360e-03 9.99843640e-01 -1.76515183e-02 -1.72826247e-01] [-9.88668450e-03 1.76611273e-02 9.99795148e-01 -2.49731158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88719347 meters Centerline goodness : 0.907364 Centerline is valid? [False, False] Translation: X:17.13, Y:-0.17, Z:-2.50 [[ 9.99907160e-01 3.59776756e-03 1.31425552e-02 1.71342513e+01] [-3.30987951e-03 9.99755530e-01 -2.18614865e-02 -1.66581755e-01] [-1.32179948e-02 2.18159566e-02 9.99674621e-01 -2.49846944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91719347 meters Centerline goodness : 0.904360 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.16, Z:-2.50 [[ 9.99867442e-01 6.36456749e-03 1.49863675e-02 1.71547422e+01] [-6.00473194e-03 9.99695492e-01 -2.39346499e-02 -1.63836809e-01] [-1.51341377e-02 2.38414880e-02 9.99601191e-01 -2.50082843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94719347 meters Centerline goodness : 0.907386 Centerline is valid? [False, False] Translation: X:17.17, Y:-0.16, Z:-2.50 [[ 9.99827692e-01 8.66427960e-03 1.64169806e-02 1.71739846e+01] [-8.21864010e-03 9.99601087e-01 -2.70207629e-02 -1.61005058e-01] [-1.66445471e-02 2.68811818e-02 9.99500056e-01 -2.50199988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97719347 meters Centerline goodness : 0.906361 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.16, Z:-2.50 [[ 9.99777442e-01 1.13097435e-02 1.78089055e-02 1.71942903e+01] [-1.08008737e-02 9.99537847e-01 -2.84153786e-02 -1.60520056e-01] [-1.81220457e-02 2.82167028e-02 9.99437546e-01 -2.50344168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00719347 meters Centerline goodness : 0.908108 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.50 [[ 9.99785192e-01 1.14050311e-02 1.73059272e-02 1.71951939e+01] [-1.09149709e-02 9.99544047e-01 -2.81524753e-02 -1.61267378e-01] [-1.76191163e-02 2.79575343e-02 9.99453822e-01 -2.50332176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03719347 meters Centerline goodness : 0.906643 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.50 [[ 9.99800122e-01 1.08092057e-02 1.68189553e-02 1.71967378e+01] [-1.03258460e-02 9.99538598e-01 -2.85651654e-02 -1.60505511e-01] [-1.71199617e-02 2.83857859e-02 9.99450426e-01 -2.50407533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06719347 meters Centerline goodness : 0.907193 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.51 [[ 9.99823865e-01 9.84051653e-03 1.59813331e-02 1.71991343e+01] [-9.37161939e-03 9.99530976e-01 -2.91547868e-02 -1.59690046e-01] [-1.62607356e-02 2.89998806e-02 9.99447145e-01 -2.50505733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09719347 meters Centerline goodness : 0.907976 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.51 [[ 9.99852359e-01 8.32431296e-03 1.50321715e-02 1.72021840e+01] [-7.86991453e-03 9.99517756e-01 -3.00386410e-02 -1.59732091e-01] [-1.52749734e-02 2.99159042e-02 9.99435698e-01 -2.50660907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12719347 meters Centerline goodness : 0.906391 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.50 [[ 9.99952007e-01 1.88223534e-03 9.61462847e-03 1.72020880e+01] [-1.70251330e-03 9.99824313e-01 -1.86666667e-02 -1.64184546e-01] [-9.64807437e-03 1.86494018e-02 9.99779533e-01 -2.50487229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15719347 meters Centerline goodness : 0.904757 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.16, Z:-2.51 [[ 9.99960963e-01 9.30034685e-04 8.78675944e-03 1.72046905e+01] [-7.61882188e-04 9.99816886e-01 -1.91210353e-02 -1.64997599e-01] [-8.80293368e-03 1.91135944e-02 9.99778565e-01 -2.50617317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18719347 meters Centerline goodness : 0.904739 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.17, Z:-2.51 [[ 9.99966366e-01 2.86048027e-04 8.19669093e-03 1.72065471e+01] [-1.26956279e-04 9.99811732e-01 -1.94032159e-02 -1.65438715e-01] [-8.20069800e-03 1.94015226e-02 9.99778140e-01 -2.50703373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21719346999998 meters Centerline goodness : 0.905664 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99970893e-01 -3.85233611e-04 7.62008352e-03 1.72080153e+01] [ 5.36248372e-04 9.99803304e-01 -1.98258884e-02 -1.64901066e-01] [-7.61094708e-03 1.98293976e-02 9.99774409e-01 -2.50732737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24719346999998 meters Centerline goodness : 0.907441 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99976205e-01 1.20049443e-03 6.79319222e-03 1.72102388e+01] [-1.07965496e-03 9.99841623e-01 -1.77641111e-02 -1.62549455e-01] [-6.81344205e-03 1.77563541e-02 9.99819128e-01 -2.50771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27719347 meters Centerline goodness : 0.907441 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99976205e-01 1.20049443e-03 6.79319222e-03 1.72102388e+01] [-1.07965496e-03 9.99841623e-01 -1.77641111e-02 -1.62549455e-01] [-6.81344205e-03 1.77563541e-02 9.99819128e-01 -2.50771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30719347 meters Centerline goodness : 0.905857 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.16, Z:-2.51 [[ 9.99978443e-01 2.99972359e-03 5.84083734e-03 1.72132600e+01] [-2.90865328e-03 9.99875039e-01 -1.55385539e-02 -1.61709361e-01] [-5.88671882e-03 1.55212300e-02 9.99862209e-01 -2.50901591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33719347 meters Centerline goodness : 0.907073 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99979893e-01 4.07104277e-03 4.86221934e-03 1.72163883e+01] [-3.99988777e-03 9.99886064e-01 -1.45554083e-02 -1.61227891e-01] [-4.92092105e-03 1.45356673e-02 9.99882243e-01 -2.51050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36719347 meters Centerline goodness : 0.905371 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99984779e-01 3.59471683e-03 4.18555330e-03 1.72183060e+01] [-3.53036030e-03 9.99876975e-01 -1.52830512e-02 -1.60132467e-01] [-4.23997661e-03 1.52680421e-02 9.99874447e-01 -2.51129236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39719347 meters Centerline goodness : 0.906641 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99973706e-01 6.40448801e-03 3.40136785e-03 1.72206677e+01] [-6.36095445e-03 9.99899638e-01 -1.26590397e-02 -1.58607475e-01] [-3.48210115e-03 1.26370709e-02 9.99914086e-01 -2.51238905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42719347 meters Centerline goodness : 0.905456 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.16, Z:-2.51 [[ 9.99957476e-01 8.83617698e-03 2.63956940e-03 1.72231138e+01] [-8.80896782e-03 9.99909708e-01 -1.01478323e-02 -1.56780631e-01] [-2.72899911e-03 1.01241489e-02 9.99945026e-01 -2.51347956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45719347 meters Centerline goodness : 0.906150 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.16, Z:-2.51 [[ 9.99931956e-01 1.15006898e-02 1.95377662e-03 1.72251350e+01] [-1.14860483e-02 9.99907043e-01 -7.34681316e-03 -1.55020524e-01] [-2.03808843e-03 7.32387208e-03 9.99971103e-01 -2.51412288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48719347 meters Centerline goodness : 0.906142 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.15, Z:-2.52 [[ 9.99915124e-01 1.23272308e-02 4.21712586e-03 1.72446992e+01] [-1.22751132e-02 9.99850608e-01 -1.21689225e-02 -1.51388614e-01] [-4.36650498e-03 1.21161239e-02 9.99917063e-01 -2.51667584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51719347 meters Centerline goodness : 0.907739 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.15, Z:-2.52 [[ 9.99837255e-01 1.51789870e-02 9.74994890e-03 1.72564434e+01] [-1.49855333e-02 9.99695253e-01 -1.96172092e-02 -1.47880684e-01] [-1.00447470e-02 1.94679085e-02 9.99760023e-01 -2.51994196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54719347 meters Centerline goodness : 0.909524 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.15, Z:-2.52 [[ 9.99801995e-01 1.77208225e-02 9.05228619e-03 1.72584842e+01] [-1.75665502e-02 9.99703759e-01 -1.68466742e-02 -1.48042183e-01] [-9.34814146e-03 1.66843211e-02 9.99817106e-01 -2.52048931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57719347 meters Centerline goodness : 0.907491 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.15, Z:-2.52 [[ 9.99737083e-01 2.12307555e-02 8.66139244e-03 1.72593273e+01] [-2.11162307e-02 9.99691117e-01 -1.31062892e-02 -1.47885883e-01] [-8.93697351e-03 1.29199474e-02 9.99876595e-01 -2.52021819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60719347 meters Centerline goodness : 0.909848 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.14, Z:-2.52 [[ 9.99691777e-01 2.22289272e-02 1.10555710e-02 1.72780204e+01] [-2.20241977e-02 9.99589801e-01 -1.83074746e-02 -1.43652965e-01] [-1.14579915e-02 1.80583418e-02 9.99771279e-01 -2.52306881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63719347 meters Centerline goodness : 0.907283 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.14, Z:-2.52 [[ 9.99645773e-01 2.45942978e-02 1.01710387e-02 1.72811482e+01] [-2.44326985e-02 9.99577898e-01 -1.57184232e-02 -1.42885758e-01] [-1.05533290e-02 1.54643494e-02 9.99824725e-01 -2.52465011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66719347 meters Centerline goodness : 0.906612 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.14, Z:-2.53 [[ 9.99675576e-01 2.37389905e-02 9.23058348e-03 1.72838477e+01] [-2.35852178e-02 9.99586884e-01 -1.64255512e-02 -1.42523777e-01] [-9.61669618e-03 1.62025170e-02 9.99822483e-01 -2.52595936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69719347 meters Centerline goodness : 0.902405 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99715010e-01 2.23194535e-02 8.46999049e-03 1.72863522e+01] [-2.21703312e-02 9.99604353e-01 -1.73093519e-02 -1.43043813e-01] [-8.85297464e-03 1.71166364e-02 9.99814306e-01 -2.52722384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72719347 meters Centerline goodness : 0.905583 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99900201e-01 1.10329519e-02 8.82397199e-03 1.72869014e+01] [-1.09482411e-02 9.99894064e-01 -9.59144587e-03 -1.44493312e-01] [-8.92885917e-03 9.49388168e-03 9.99915067e-01 -2.52733734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75719347 meters Centerline goodness : 0.908456 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99930030e-01 8.66930796e-03 8.04849995e-03 1.72894014e+01] [-8.57848696e-03 9.99899908e-01 -1.12509795e-02 -1.44389286e-01] [-8.14523256e-03 1.11811483e-02 9.99904314e-01 -2.52835447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78719347 meters Centerline goodness : 0.907615 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99940796e-01 7.54846312e-03 7.83740007e-03 1.72899111e+01] [-7.45536345e-03 9.99902100e-01 -1.18409249e-02 -1.44318255e-01] [-7.92601358e-03 1.17817932e-02 9.99899179e-01 -2.52816037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81719347 meters Centerline goodness : 0.910709 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99953813e-01 6.42321684e-03 7.14945278e-03 1.72915391e+01] [-6.33145453e-03 9.99898231e-01 -1.27843433e-02 -1.43534505e-01] [-7.23084180e-03 1.27384864e-02 9.99892717e-01 -2.52843618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84719347 meters Centerline goodness : 0.909708 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99961543e-01 5.59380977e-03 6.75438742e-03 1.72918643e+01] [-5.50112952e-03 9.99891524e-01 -1.36629726e-02 -1.42306570e-01] [-6.83008280e-03 1.36252904e-02 9.99883844e-01 -2.52747362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87719347 meters Centerline goodness : 0.911567 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99965710e-01 5.13770924e-03 6.49487019e-03 1.72922515e+01] [-5.04446618e-03 9.99885137e-01 -1.42921883e-02 -1.41073283e-01] [-6.56755327e-03 1.42589351e-02 9.99876767e-01 -2.52712342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90719347 meters Centerline goodness : 0.913734 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.14, Z:-2.53 [[ 9.99959672e-01 6.88172716e-03 5.77022859e-03 1.72947513e+01] [-6.81029263e-03 9.99901044e-01 -1.23094231e-02 -1.39611579e-01] [-5.85436768e-03 1.22696297e-02 9.99907587e-01 -2.52821963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93719347 meters Centerline goodness : 0.914072 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.14, Z:-2.53 [[ 9.99946221e-01 9.11235007e-03 4.95179703e-03 1.72975701e+01] [-9.06206476e-03 9.99908089e-01 -1.00842455e-02 -1.36881858e-01] [-5.04323308e-03 1.00388297e-02 9.99936892e-01 -2.52962169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96719346999998 meters Centerline goodness : 0.911014 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.13, Z:-2.53 [[ 9.99924228e-01 1.16718726e-02 3.91235045e-03 1.73013651e+01] [-1.16388317e-02 9.99897283e-01 -8.36426317e-03 -1.32198639e-01] [-4.00957520e-03 8.31809420e-03 9.99957365e-01 -2.53216883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99719346999998 meters Centerline goodness : 0.909361 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.13, Z:-2.53 [[ 9.99922496e-01 1.21673614e-02 2.63781422e-03 1.73059241e+01] [-1.21456897e-02 9.99893578e-01 -8.08177062e-03 -1.31638856e-01] [-2.73586732e-03 8.04910618e-03 9.99963863e-01 -2.53499417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02719347 meters Centerline goodness : 0.906789 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.13, Z:-2.54 [[ 9.99915537e-01 1.29046448e-02 1.54553117e-03 1.73101523e+01] [-1.28925618e-02 9.99888094e-01 -7.58822544e-03 -1.31115559e-01] [-1.64328157e-03 7.56765866e-03 9.99970015e-01 -2.53773597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05719347 meters Centerline goodness : 0.903840 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.13, Z:-2.54 [[ 9.99874217e-01 1.58396524e-02 8.09104074e-04 1.73127664e+01] [-1.58351637e-02 9.99860666e-01 -5.28170216e-03 -1.26717981e-01] [-8.92651665e-04 5.26822552e-03 9.99985724e-01 -2.53931228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08719347 meters Centerline goodness : 0.900375 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.13, Z:-2.54 [[ 9.99872328e-01 1.48644594e-02 5.86310723e-03 1.73240773e+01] [-1.48787493e-02 9.99886422e-01 2.40122552e-03 -1.26030976e-01] [-5.82674839e-03 -2.48815466e-03 9.99979929e-01 -2.54230356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11719347 meters Centerline goodness : 0.904077 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.12, Z:-2.54 [[ 9.99917962e-01 1.15657533e-02 5.50481470e-03 1.73242088e+01] [-1.15553844e-02 9.99931407e-01 -1.91170882e-03 -1.23428556e-01] [-5.52654746e-03 1.84794173e-03 9.99983021e-01 -2.54151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14719347 meters Centerline goodness : 0.901613 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.12, Z:-2.54 [[ 9.99953316e-01 8.17583464e-03 5.14983920e-03 1.73244030e+01] [-8.14500085e-03 9.99948947e-01 -5.98011557e-03 -1.22065912e-01] [-5.19846872e-03 5.93789096e-03 9.99968858e-01 -2.54078772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17719347 meters Centerline goodness : 0.906063 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.12, Z:-2.54 [[ 9.99943720e-01 6.83983542e-03 8.11012366e-03 1.73431632e+01] [-6.75045318e-03 9.99916738e-01 -1.09976943e-02 -1.21089166e-01] [-8.18467081e-03 1.09423284e-02 9.99906634e-01 -2.54187917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20719347 meters Centerline goodness : 0.901563 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.12, Z:-2.54 [[ 9.99951736e-01 5.76434982e-03 7.95600617e-03 1.73437663e+01] [-5.66864983e-03 9.99911939e-01 -1.19992327e-02 -1.19270957e-01] [-8.02447332e-03 1.19535537e-02 9.99896355e-01 -2.54207837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23719347 meters Centerline goodness : 0.902897 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.12, Z:-2.54 [[ 9.99958693e-01 5.11287182e-03 7.51476058e-03 1.73449396e+01] [-5.01847329e-03 9.99908936e-01 -1.25273753e-02 -1.18230945e-01] [-7.57812712e-03 1.24891452e-02 9.99893291e-01 -2.54230987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26719347 meters Centerline goodness : 0.902050 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.12, Z:-2.54 [[ 9.99963976e-01 4.48042057e-03 7.20922905e-03 1.73454941e+01] [-4.38575204e-03 9.99904649e-01 -1.30942312e-02 -1.17222282e-01] [-7.26720930e-03 1.30621416e-02 9.99888278e-01 -2.54205688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29719347 meters Centerline goodness : 0.903140 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.12, Z:-2.54 [[ 9.99968319e-01 4.06102192e-03 6.84615824e-03 1.73462368e+01] [-3.96787156e-03 9.99900114e-01 -1.35653358e-02 -1.16155292e-01] [-6.90056353e-03 1.35377414e-02 9.99884549e-01 -2.54190364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32719347 meters Centerline goodness : 0.899831 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.11, Z:-2.54 [[ 9.99969035e-01 4.13011985e-03 6.69854137e-03 1.73461434e+01] [-4.03578907e-03 9.99893357e-01 -1.40351899e-02 -1.13698002e-01] [-6.75579404e-03 1.40077214e-02 9.99879064e-01 -2.54126009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35719347 meters Centerline goodness : 0.903593 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.11, Z:-2.54 [[ 9.99970183e-01 5.08814577e-03 5.80897390e-03 1.73492023e+01] [-5.01069398e-03 9.99899385e-01 -1.32707175e-02 -1.12715042e-01] [-5.87591278e-03 1.32412148e-02 9.99895066e-01 -2.54285595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38719347 meters Centerline goodness : 0.902444 Centerline is valid? [False, False] Translation: X:17.37, Y:-0.11, Z:-2.55 [[ 9.99964287e-01 4.92617596e-03 6.86720103e-03 1.73699226e+01] [-4.79611550e-03 9.99811217e-01 -1.88288896e-02 -1.09289741e-01] [-6.95865904e-03 1.87952813e-02 9.99799137e-01 -2.54604082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41719347 meters Centerline goodness : 0.898195 Centerline is valid? [False, False] Translation: X:17.37, Y:-0.11, Z:-2.55 [[ 9.99955538e-01 7.39368850e-03 5.85288556e-03 1.73733668e+01] [-7.29729550e-03 9.99840145e-01 -1.63228101e-02 -1.08489463e-01] [-5.97263572e-03 1.62793742e-02 9.99849643e-01 -2.54791123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44719347 meters Centerline goodness : 0.896779 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.10, Z:-2.55 [[ 9.99921322e-01 1.00741302e-02 7.47401475e-03 1.73941132e+01] [-9.92579018e-03 9.99758122e-01 -1.96258940e-02 -1.04390854e-01] [-7.66992076e-03 1.95501644e-02 9.99779457e-01 -2.55148754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47719347 meters Centerline goodness : 0.897070 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.10, Z:-2.55 [[ 9.99874756e-01 1.14821974e-02 1.08918054e-02 1.74122590e+01] [-1.12430536e-02 9.99699804e-01 -2.17691212e-02 -1.02528776e-01] [-1.11384931e-02 2.16439376e-02 9.99703693e-01 -2.55290727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50719347 meters Centerline goodness : 0.899180 Centerline is valid? [False, False] Translation: X:17.43, Y:-0.10, Z:-2.56 [[ 9.99854874e-01 1.09398341e-02 1.30594924e-02 1.74314772e+01] [-1.05820941e-02 9.99575226e-01 -2.71548643e-02 -9.99521426e-02] [-1.33510148e-02 2.70127267e-02 9.99545928e-01 -2.55549078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53719347 meters Centerline goodness : 0.893236 Centerline is valid? [False, False] Translation: X:17.46, Y:-0.10, Z:-2.56 [[ 9.99916593e-01 9.81218271e-03 8.39806368e-03 1.74626371e+01] [-9.60421594e-03 9.99654780e-01 -2.44556916e-02 -1.00794483e-01] [-8.63512821e-03 2.43729951e-02 9.99665640e-01 -2.55667347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56719347 meters Centerline goodness : 0.893546 Centerline is valid? [False, False] Translation: X:17.46, Y:-0.10, Z:-2.56 [[ 9.99923504e-01 9.52592249e-03 7.88936205e-03 1.74644152e+01] [-9.33041890e-03 9.99657331e-01 -2.44573755e-02 -1.01324252e-01] [-8.11963767e-03 2.43818936e-02 9.99669743e-01 -2.55772280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59719347 meters Centerline goodness : 0.895642 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.10, Z:-2.56 [[ 9.99931037e-01 9.18910245e-03 7.31315491e-03 1.74660295e+01] [-9.00919085e-03 9.99664964e-01 -2.42650714e-02 -1.02700497e-01] [-7.53367897e-03 2.41975124e-02 9.99678810e-01 -2.55840603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62719347 meters Centerline goodness : 0.894728 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.10, Z:-2.56 [[ 9.99938919e-01 8.78747079e-03 6.70359532e-03 1.74676930e+01] [-8.62447583e-03 9.99675529e-01 -2.39678053e-02 -1.04977793e-01] [-6.91203658e-03 2.39085263e-02 9.99690255e-01 -2.55905792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65719347 meters Centerline goodness : 0.895863 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.11, Z:-2.56 [[ 9.99949885e-01 7.92252824e-03 6.12052980e-03 1.74696927e+01] [-7.77660715e-03 9.99693401e-01 -2.35080592e-02 -1.09043250e-01] [-6.30489652e-03 2.34592842e-02 9.99704912e-01 -2.56015945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68719347 meters Centerline goodness : 0.894311 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.11, Z:-2.56 [[ 9.99961085e-01 6.97580804e-03 5.40052506e-03 1.74720860e+01] [-6.84524033e-03 9.99692610e-01 -2.38291271e-02 -1.10503696e-01] [-5.56509242e-03 2.37912319e-02 9.99701459e-01 -2.56137845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71719346999998 meters Centerline goodness : 0.892526 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.11, Z:-2.56 [[ 9.99966454e-01 6.61828521e-03 4.82579461e-03 1.74733890e+01] [-6.50236833e-03 9.99699087e-01 -2.36527849e-02 -1.11770405e-01] [-4.98088334e-03 2.36206123e-02 9.99708586e-01 -2.56150493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74719346999998 meters Centerline goodness : 0.895721 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.11, Z:-2.56 [[ 9.99977366e-01 6.17976739e-03 2.66059366e-03 1.75005691e+01] [-6.13019648e-03 9.99814606e-01 -1.82530581e-02 -1.14371302e-01] [-2.77290006e-03 1.82363350e-02 9.99829859e-01 -2.55944754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77719347 meters Centerline goodness : 0.894163 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.12, Z:-2.56 [[ 9.99979520e-01 5.99800028e-03 2.23224491e-03 1.75013634e+01] [-5.95648338e-03 9.99817306e-01 -1.81624745e-02 -1.15132000e-01] [-2.34077562e-03 1.81488062e-02 9.99832557e-01 -2.55926356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80719347 meters Centerline goodness : 0.892292 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.12, Z:-2.56 [[ 9.99981280e-01 5.80587615e-03 1.93192318e-03 1.75018149e+01] [-5.77012112e-03 9.99820885e-01 -1.80251097e-02 -1.16190281e-01] [-2.03622870e-03 1.80136249e-02 9.99835668e-01 -2.55895697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83719347 meters Centerline goodness : 0.893148 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.12, Z:-2.56 [[ 9.99983835e-01 5.47682809e-03 1.52807416e-03 1.75025735e+01] [-5.44837012e-03 9.99822343e-01 -1.80443120e-02 -1.16968737e-01] [-1.62662828e-03 1.80356948e-02 9.99836020e-01 -2.55877032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86719347 meters Centerline goodness : 0.898121 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.12, Z:-2.56 [[ 9.99977947e-01 3.18141359e-03 5.82953708e-03 1.75115903e+01] [-3.12184579e-03 9.99943115e-01 -1.01990393e-02 -1.17514027e-01] [-5.86165283e-03 1.01806154e-02 9.99930996e-01 -2.55938313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89719347 meters Centerline goodness : 0.891801 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.12, Z:-2.56 [[ 9.99980590e-01 2.77869122e-03 5.57655494e-03 1.75118024e+01] [-2.71893317e-03 9.99939110e-01 -1.06950673e-02 -1.15614743e-01] [-5.60593367e-03 1.06796974e-02 9.99927256e-01 -2.55874085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92719347 meters Centerline goodness : 0.889647 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.11, Z:-2.56 [[ 9.99982227e-01 2.39029772e-03 5.46197116e-03 1.75119025e+01] [-2.32866376e-03 9.99933861e-01 -1.12628301e-02 -1.14095611e-01] [-5.48853143e-03 1.12499108e-02 9.99921655e-01 -2.55830515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95719347 meters Centerline goodness : 0.893954 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.11, Z:-2.56 [[ 9.99952942e-01 2.78482760e-03 9.29291044e-03 1.75288327e+01] [-2.65776675e-03 9.99903202e-01 -1.36573309e-02 -1.14638019e-01] [-9.33004421e-03 1.36319898e-02 9.99863550e-01 -2.55777795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98719347 meters Centerline goodness : 0.894070 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.12, Z:-2.56 [[ 9.99958182e-01 2.41055133e-03 8.82178805e-03 1.75301578e+01] [-2.28812465e-03 9.99901305e-01 -1.38616414e-02 -1.15131503e-01] [-8.85433158e-03 1.38408764e-02 9.99865006e-01 -2.55827394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01719347 meters Centerline goodness : 0.894889 Centerline is valid? [False, False] Translation: X:17.55, Y:-0.12, Z:-2.56 [[ 9.99975197e-01 3.73000721e-03 5.97437516e-03 1.75527783e+01] [-3.64785683e-03 9.99899458e-01 -1.37028276e-02 -1.16225141e-01] [-6.02488613e-03 1.36806941e-02 9.99888263e-01 -2.55946877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04719347 meters Centerline goodness : 0.894462 Centerline is valid? [False, False] Translation: X:17.56, Y:-0.12, Z:-2.56 [[ 9.99977554e-01 4.32848264e-03 5.11424055e-03 1.75564429e+01] [-4.26107012e-03 9.99904856e-01 -1.31195103e-02 -1.15845702e-01] [-5.17054154e-03 1.30974237e-02 9.99900857e-01 -2.56203396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07719347 meters Centerline goodness : 0.895676 Centerline is valid? [False, False] Translation: X:17.58, Y:-0.11, Z:-2.56 [[ 9.99978030e-01 5.64169484e-03 3.48001283e-03 1.75793181e+01] [-5.58713660e-03 9.99864366e-01 -1.54929864e-02 -1.14935495e-01] [-3.56694753e-03 1.54732027e-02 9.99873920e-01 -2.56436769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10719347 meters Centerline goodness : 0.893464 Centerline is valid? [False, False] Translation: X:17.58, Y:-0.12, Z:-2.57 [[ 9.99979200e-01 5.70658652e-03 3.00587948e-03 1.75807570e+01] [-5.65999968e-03 9.99867150e-01 -1.52855289e-02 -1.15595677e-01] [-3.09270834e-03 1.52681976e-02 9.99878651e-01 -2.56512892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13719347 meters Centerline goodness : 0.895828 Centerline is valid? [False, False] Translation: X:17.60, Y:-0.12, Z:-2.57 [[ 9.99976752e-01 6.68543525e-03 1.34186346e-03 1.76036049e+01] [-6.66367950e-03 9.99855939e-01 -1.56107911e-02 -1.17237403e-01] [-1.44603509e-03 1.56014864e-02 9.99877244e-01 -2.56710247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16719347 meters Centerline goodness : 0.895677 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99978946e-01 6.44094254e-03 7.88932395e-04 1.76053169e+01] [-6.42780758e-03 9.99856842e-01 -1.56518051e-02 -1.17769749e-01] [-8.89631830e-04 1.56464044e-02 9.99877192e-01 -2.56804160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19719347 meters Centerline goodness : 0.895677 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99978946e-01 6.44094254e-03 7.88932395e-04 1.76053169e+01] [-6.42780758e-03 9.99856842e-01 -1.56518051e-02 -1.17769749e-01] [-8.89631830e-04 1.56464044e-02 9.99877192e-01 -2.56804160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22719347 meters Centerline goodness : 0.891370 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99978789e-01 6.50066186e-03 -4.03816036e-04 1.76098488e+01] [-6.50598115e-03 9.99866669e-01 -1.49771997e-02 -1.20151111e-01] [ 3.06400484e-04 1.49795093e-02 9.99887754e-01 -2.57103862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25719347 meters Centerline goodness : 0.895618 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.12, Z:-2.57 [[ 9.99983319e-01 5.61139732e-03 -1.36864530e-03 1.76128007e+01] [-5.63162549e-03 9.99867806e-01 -1.52530600e-02 -1.21734406e-01] [ 1.28287339e-03 1.52605132e-02 9.99882729e-01 -2.57251821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28719347 meters Centerline goodness : 0.891208 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.12, Z:-2.57 [[ 9.99988976e-01 4.16665239e-03 -2.16478979e-03 1.76156906e+01] [-4.20129537e-03 9.99859089e-01 -1.62527517e-02 -1.23314818e-01] [ 2.09676518e-03 1.62616674e-02 9.99865572e-01 -2.57426568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31719347 meters Centerline goodness : 0.892233 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.13, Z:-2.57 [[ 9.99990036e-01 3.35414518e-03 -2.94581229e-03 1.76177076e+01] [-3.40197573e-03 9.99859974e-01 -1.63847222e-02 -1.25124987e-01] [ 2.89044306e-03 1.63945805e-02 9.99861422e-01 -2.57492504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34719347 meters Centerline goodness : 0.893346 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99996830e-01 5.91010796e-04 2.44749953e-03 1.76281151e+01] [-5.68535690e-04 9.99957762e-01 -9.17342171e-03 -1.29014270e-01] [-2.45281774e-03 9.17200114e-03 9.99954928e-01 -2.57741950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37719347 meters Centerline goodness : 0.893607 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99997905e-01 6.64234359e-05 2.04573470e-03 1.76292928e+01] [-4.72317061e-05 9.99956006e-01 -9.37995846e-03 -1.29386100e-01] [-2.04626775e-03 9.37984219e-03 9.99953915e-01 -2.57785661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40719347 meters Centerline goodness : 0.892748 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99998672e-01 -4.13304669e-04 1.57653448e-03 1.76305936e+01] [ 4.28499197e-04 9.99953348e-01 -9.64979845e-03 -1.29569602e-01] [-1.57247262e-03 9.65046118e-03 9.99952197e-01 -2.57833253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43719347 meters Centerline goodness : 0.890386 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99999074e-01 -7.32020004e-04 1.14682174e-03 1.76317106e+01] [ 7.43265468e-04 9.99951347e-01 -9.83622086e-03 -1.29959398e-01] [-1.13956563e-03 9.83706415e-03 9.99950966e-01 -2.57863434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46719346999998 meters Centerline goodness : 0.892055 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99999471e-01 -7.82027974e-04 6.67972931e-04 1.76327633e+01] [ 7.88598480e-04 9.99950747e-01 -9.89352449e-03 -1.30072988e-01] [-6.60203019e-04 9.89404602e-03 9.99950835e-01 -2.57874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49719346999998 meters Centerline goodness : 0.887765 Centerline is valid? [False, False] Translation: X:17.63, Y:-0.13, Z:-2.58 [[ 9.99999765e-01 1.31667041e-04 6.72370581e-04 1.76321068e+01] [-1.25027714e-04 9.99951332e-01 -9.86501976e-03 -1.28089110e-01] [-6.73636756e-04 9.86493338e-03 9.99951113e-01 -2.57762516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52719347 meters Centerline goodness : 0.892304 Centerline is valid? [False, False] Translation: X:17.65, Y:-0.13, Z:-2.58 [[ 9.99992550e-01 2.06352102e-03 3.26204314e-03 1.76503597e+01] [-2.02512698e-03 9.99929153e-01 -1.17297429e-02 -1.25937564e-01] [-3.28601661e-03 1.17230495e-02 9.99925883e-01 -2.57784190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55719347 meters Centerline goodness : 0.889895 Centerline is valid? [False, False] Translation: X:17.65, Y:-0.13, Z:-2.58 [[ 9.99980084e-01 5.64862797e-03 2.81493316e-03 1.76510298e+01] [-5.62617193e-03 9.99952789e-01 -7.92253462e-03 -1.26063026e-01] [-2.85955171e-03 7.90653954e-03 9.99964654e-01 -2.57732989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58719347 meters Centerline goodness : 0.894991 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.12, Z:-2.58 [[ 9.99972617e-01 5.78687505e-03 4.61264241e-03 1.76700010e+01] [-5.72882563e-03 9.99905458e-01 -1.25002500e-02 -1.23770306e-01] [-4.68454371e-03 1.24734827e-02 9.99911230e-01 -2.57818991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61719347 meters Centerline goodness : 0.888744 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.12, Z:-2.58 [[ 9.99969793e-01 6.54584608e-03 4.19107310e-03 1.76700861e+01] [-6.49619521e-03 9.99909831e-01 -1.17528086e-02 -1.24926610e-01] [-4.26762727e-03 1.17252275e-02 9.99922150e-01 -2.57712924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64719347 meters Centerline goodness : 0.887874 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99971401e-01 6.53244424e-03 3.81121304e-03 1.76708826e+01] [-6.48816409e-03 9.99912624e-01 -1.15173107e-02 -1.25974667e-01] [-3.88611622e-03 1.14922535e-02 9.99926410e-01 -2.57716712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67719347 meters Centerline goodness : 0.887230 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99973089e-01 6.49593488e-03 3.40944387e-03 1.76718683e+01] [-6.45691665e-03 9.99914931e-01 -1.13330505e-02 -1.26644608e-01] [-3.48277259e-03 1.13107311e-02 9.99929966e-01 -2.57737632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70719347 meters Centerline goodness : 0.887560 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99975188e-01 6.38087655e-03 2.98466037e-03 1.76729133e+01] [-6.34694567e-03 9.99916652e-01 -1.12429978e-02 -1.27031572e-01] [-3.05615178e-03 1.12237753e-02 9.99932341e-01 -2.57761973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73719347 meters Centerline goodness : 0.887772 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.13, Z:-2.58 [[ 9.99973603e-01 6.71784326e-03 2.76831868e-03 1.76729206e+01] [-6.68993782e-03 9.99927927e-01 -9.96918117e-03 -1.30687843e-01] [-2.83509056e-03 9.95039813e-03 9.99946474e-01 -2.57690518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76719347 meters Centerline goodness : 0.887410 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.13, Z:-2.58 [[ 9.99982539e-01 5.55939187e-03 2.00370243e-03 1.76755672e+01] [-5.53789649e-03 9.99928713e-01 -1.05783019e-02 -1.33052189e-01] [-2.06236852e-03 1.05670209e-02 9.99942041e-01 -2.57839469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79719347 meters Centerline goodness : 0.889163 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.14, Z:-2.58 [[ 9.99987713e-01 4.78597241e-03 1.29135748e-03 1.76786410e+01] [-4.77240728e-03 9.99935454e-01 -1.03107417e-02 -1.37386419e-01] [-1.34062105e-03 1.03044522e-02 9.99946009e-01 -2.58073485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82719347 meters Centerline goodness : 0.887712 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.14, Z:-2.58 [[ 9.99989608e-01 4.48985415e-03 7.90597675e-04 1.76805069e+01] [-4.48148094e-03 9.99936993e-01 -1.02920690e-02 -1.38049369e-01] [-8.36757751e-04 1.02884190e-02 9.99946723e-01 -2.58200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85719347 meters Centerline goodness : 0.886983 Centerline is valid? [False, False] Translation: X:17.70, Y:-0.14, Z:-2.58 [[ 9.99989883e-01 4.48274507e-03 -3.73448195e-04 1.77022473e+01] [-4.48730315e-03 9.99902013e-01 -1.32600079e-02 -1.38045413e-01] [ 3.13970367e-04 1.32615495e-02 9.99912012e-01 -2.58404712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88719347 meters Centerline goodness : 0.887795 Centerline is valid? [False, False] Translation: X:17.72, Y:-0.14, Z:-2.59 [[ 9.99985534e-01 5.24751746e-03 -1.18163568e-03 1.77237492e+01] [-5.26505974e-03 9.99868054e-01 -1.53672648e-02 -1.38612763e-01] [ 1.10083977e-03 1.53732639e-02 9.99881218e-01 -2.58530280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91719347 meters Centerline goodness : 0.886728 Centerline is valid? [False, False] Translation: X:17.72, Y:-0.14, Z:-2.59 [[ 9.99980440e-01 6.02210487e-03 -1.68921254e-03 1.77247594e+01] [-6.04572125e-03 9.99878863e-01 -1.43425563e-02 -1.41617484e-01] [ 1.60263554e-03 1.43524883e-02 9.99895713e-01 -2.58540935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94719347 meters Centerline goodness : 0.888681 Centerline is valid? [False, False] Translation: X:17.73, Y:-0.14, Z:-2.59 [[ 9.99977822e-01 6.35956973e-03 -1.97748107e-03 1.77254979e+01] [-6.38688586e-03 9.99879788e-01 -1.41285703e-02 -1.41724551e-01] [ 1.88739172e-03 1.41408869e-02 9.99898231e-01 -2.58564069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97719347 meters Centerline goodness : 0.890051 Centerline is valid? [False, False] Translation: X:17.74, Y:-0.14, Z:-2.59 [[ 9.99975319e-01 7.00980050e-03 4.73968877e-04 1.77443551e+01] [-6.99944735e-03 9.99792366e-01 -1.91371950e-02 -1.39031104e-01] [-6.08018385e-04 1.91334052e-02 9.99816755e-01 -2.58831304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00719347 meters Centerline goodness : 0.887907 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.14, Z:-2.59 [[ 9.99954997e-01 9.03034052e-03 2.90791774e-03 1.77635999e+01] [-8.96620839e-03 9.99731649e-01 -2.13597274e-02 -1.37027773e-01] [-3.10002301e-03 2.13326932e-02 9.99767626e-01 -2.59018608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03719347 meters Centerline goodness : 0.890670 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.14, Z:-2.59 [[ 9.99911026e-01 1.29890689e-02 3.03716570e-03 1.77630025e+01] [-1.29342434e-02 9.99764537e-01 -1.74234318e-02 -1.36734613e-01] [-3.26276471e-03 1.73825982e-02 9.99843588e-01 -2.58931173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06719347 meters Centerline goodness : 0.890588 Centerline is valid? [False, False] Translation: X:17.78, Y:-0.13, Z:-2.59 [[ 9.99916193e-01 1.14751576e-02 5.99399895e-03 1.77803574e+01] [-1.13225691e-02 9.99625852e-01 -2.48989097e-02 -1.33499440e-01] [-6.27747522e-03 2.48289555e-02 9.99672004e-01 -2.59136758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09719347 meters Centerline goodness : 0.891438 Centerline is valid? [False, False] Translation: X:17.80, Y:-0.13, Z:-2.59 [[ 9.99912183e-01 1.02364937e-02 8.41665769e-03 1.77993962e+01] [-9.97963208e-03 9.99499663e-01 -3.00138538e-02 -1.32601755e-01] [-8.71968314e-03 2.99272229e-02 9.99514046e-01 -2.59302457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12719347 meters Centerline goodness : 0.893343 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.14, Z:-2.59 [[ 9.99902204e-01 6.72999006e-03 1.22592616e-02 1.78096069e+01] [-6.44263911e-03 9.99707057e-01 -2.33300761e-02 -1.35622923e-01] [-1.24126815e-02 2.32488125e-02 9.99652649e-01 -2.59494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15719347 meters Centerline goodness : 0.893579 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.14, Z:-2.59 [[ 9.99931540e-01 -1.84622474e-03 1.15545384e-02 1.78088788e+01] [ 1.99579848e-03 9.99914194e-01 -1.29469062e-02 -1.42244858e-01] [-1.15296441e-02 1.29690803e-02 9.99849424e-01 -2.59429289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18719347 meters Centerline goodness : 0.890017 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.14, Z:-2.60 [[ 9.99933507e-01 -4.19280428e-03 1.07425632e-02 1.78122382e+01] [ 4.34889000e-03 9.99884719e-01 -1.45477294e-02 -1.44167550e-01] [-1.06803290e-02 1.45934803e-02 9.99836467e-01 -2.59652194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21719346999998 meters Centerline goodness : 0.893628 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99927114e-01 -6.76833807e-03 9.99785505e-03 1.78154205e+01] [ 6.93332200e-03 9.99838826e-01 -1.65604987e-02 -1.46183137e-01] [-9.88415661e-03 1.66286100e-02 9.99812879e-01 -2.59873894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24719346999998 meters Centerline goodness : 0.893544 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99922780e-01 -8.33943820e-03 9.21351221e-03 1.78185339e+01] [ 8.49785873e-03 9.99814384e-01 -1.72911526e-02 -1.48691398e-01] [-9.06760354e-03 1.73681125e-02 9.99808045e-01 -2.60076619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27719347 meters Centerline goodness : 0.894447 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99896313e-01 -1.14390003e-02 8.74715982e-03 1.78209537e+01] [ 1.16075315e-02 9.99743152e-01 -1.94652565e-02 -1.52297913e-01] [-8.52225005e-03 1.95647712e-02 9.99772270e-01 -2.60267147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30719347 meters Centerline goodness : 0.891103 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99894681e-01 -1.18910937e-02 8.32035675e-03 1.78222117e+01] [ 1.20511081e-02 9.99738134e-01 -1.94533898e-02 -1.53195898e-01] [-8.08685585e-03 1.95516105e-02 9.99776144e-01 -2.60321360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33719347 meters Centerline goodness : 0.892093 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99894894e-01 -1.21214573e-02 7.95429700e-03 1.78230680e+01] [ 1.22739036e-02 9.99736367e-01 -1.94048419e-02 -1.53471089e-01] [-7.71698503e-03 1.95004326e-02 9.99780066e-01 -2.60334674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36719347 meters Centerline goodness : 0.892712 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99895898e-01 -1.22812383e-02 7.57388620e-03 1.78236593e+01] [ 1.24264768e-02 9.99733858e-01 -1.94369682e-02 -1.53478246e-01] [-7.33316043e-03 1.95290615e-02 9.99782397e-01 -2.60301431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39719347 meters Centerline goodness : 0.890214 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-2.60 [[ 9.99897100e-01 -1.24145667e-02 7.18799477e-03 1.78241280e+01] [ 1.25528828e-02 9.99730497e-01 -1.95284245e-02 -1.53355330e-01] [-6.94362065e-03 1.96166451e-02 9.99783463e-01 -2.60255524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42719347 meters Centerline goodness : 0.894274 Centerline is valid? [False, False] Translation: X:17.84, Y:-0.15, Z:-2.60 [[ 9.99882648e-01 -1.15928419e-02 1.00148297e-02 1.78424999e+01] [ 1.18020778e-02 9.99707866e-01 -2.10924795e-02 -1.52466242e-01] [-9.76738227e-03 2.12082001e-02 9.99727368e-01 -2.60281537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45719347 meters Centerline goodness : 0.891696 Centerline is valid? [False, False] Translation: X:17.86, Y:-0.15, Z:-2.60 [[ 9.99900844e-01 -9.85528884e-03 1.00585775e-02 1.78634798e+01] [ 1.00624194e-02 9.99733977e-01 -2.07538842e-02 -1.52533096e-01] [-9.85136615e-03 2.08530400e-02 9.99734015e-01 -2.60393486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48719347 meters Centerline goodness : 0.893272 Centerline is valid? [False, False] Translation: X:17.87, Y:-0.15, Z:-2.60 [[ 9.99923803e-01 -7.86115443e-03 9.51790382e-03 1.78654617e+01] [ 8.03178163e-03 9.99805303e-01 -1.80234792e-02 -1.52858446e-01] [-9.37436537e-03 1.80985516e-02 9.99792260e-01 -2.60498914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51719347 meters Centerline goodness : 0.895638 Centerline is valid? [False, False] Translation: X:17.87, Y:-0.15, Z:-2.61 [[ 9.99919628e-01 -8.51857673e-03 9.38992597e-03 1.78664019e+01] [ 8.69651402e-03 9.99780238e-01 -1.90747401e-02 -1.50121010e-01] [-9.22537279e-03 1.91548666e-02 9.99773966e-01 -2.60588251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54719347 meters Centerline goodness : 0.891129 Centerline is valid? [False, False] Translation: X:17.87, Y:-0.15, Z:-2.61 [[ 9.99941793e-01 -6.50775828e-03 8.60584333e-03 1.78691086e+01] [ 6.65095758e-03 9.99838137e-01 -1.67171918e-02 -1.49489355e-01] [-8.49565892e-03 1.67734558e-02 9.99823222e-01 -2.60743064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57719347 meters Centerline goodness : 0.893548 Centerline is valid? [False, False] Translation: X:17.89, Y:-0.15, Z:-2.61 [[ 9.99927625e-01 -4.55206263e-03 1.11365499e-02 1.78877543e+01] [ 4.75255149e-03 9.99825916e-01 -1.80430512e-02 -1.47331488e-01] [-1.10524781e-02 1.80946724e-02 9.99775188e-01 -2.60843127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60719347 meters Centerline goodness : 0.892629 Centerline is valid? [False, False] Translation: X:17.89, Y:-0.15, Z:-2.61 [[ 9.99939195e-01 -1.40431718e-03 1.09377847e-02 1.78882915e+01] [ 1.56592859e-03 9.99889529e-01 -1.47809947e-02 -1.46189209e-01] [-1.09158192e-02 1.47972238e-02 9.99830929e-01 -2.60849106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63719347 meters Centerline goodness : 0.893568 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.14, Z:-2.61 [[ 9.99913401e-01 1.31440846e-03 1.30944074e-02 1.79081446e+01] [-1.08689867e-03 9.99848599e-01 -1.73665678e-02 -1.40658695e-01] [-1.31152516e-02 1.73508315e-02 9.99763441e-01 -2.61110811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66719347 meters Centerline goodness : 0.893559 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.14, Z:-2.61 [[ 9.99919495e-01 2.66566008e-03 1.24055217e-02 1.79112137e+01] [-2.46533667e-03 9.99866778e-01 -1.61352956e-02 -1.39031935e-01] [-1.24468802e-02 1.61034128e-02 9.99792856e-01 -2.61334022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69719347 meters Centerline goodness : 0.894866 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.14, Z:-2.62 [[ 9.99923899e-01 3.90472689e-03 1.17025256e-02 1.79142023e+01] [-3.72861210e-03 9.99880038e-01 -1.50335174e-02 -1.37104284e-01] [-1.17598236e-02 1.49887392e-02 9.99818506e-01 -2.61539647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72719347 meters Centerline goodness : 0.893264 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.13, Z:-2.62 [[ 9.99925898e-01 4.90637869e-03 1.11411973e-02 1.79366932e+01] [-4.69587798e-03 9.99811444e-01 -1.88421005e-02 -1.30567730e-01] [-1.12315430e-02 1.87883866e-02 9.99760396e-01 -2.61869553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75719347 meters Centerline goodness : 0.894760 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.13, Z:-2.62 [[ 9.99929278e-01 6.01824443e-03 1.02576682e-02 1.79401485e+01] [-5.83426433e-03 9.99823254e-01 -1.78723870e-02 -1.28358217e-01] [-1.03634156e-02 1.78112771e-02 9.99787656e-01 -2.62092629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78719347 meters Centerline goodness : 0.893642 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.13, Z:-2.62 [[ 9.99929813e-01 7.19113258e-03 9.41576478e-03 1.79432337e+01] [-7.03294433e-03 9.99835358e-01 -1.67270447e-02 -1.26859385e-01] [-9.53450095e-03 1.66596501e-02 9.99815758e-01 -2.62269351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81719347 meters Centerline goodness : 0.892733 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.13, Z:-2.62 [[ 9.99924864e-01 8.59450846e-03 8.74077690e-03 1.79458690e+01] [-8.45918096e-03 9.99845580e-01 -1.54031990e-02 -1.25008301e-01] [-8.87181007e-03 1.53281019e-02 9.99843158e-01 -2.62423297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84719347 meters Centerline goodness : 0.896470 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.12, Z:-2.63 [[ 9.99871804e-01 1.05561154e-02 1.20392566e-02 1.79629901e+01] [-1.03211223e-02 9.99758202e-01 -1.94168005e-02 -1.17012921e-01] [-1.22413116e-02 1.92900527e-02 9.99738988e-01 -2.62539782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87719347 meters Centerline goodness : 0.889782 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.12, Z:-2.63 [[ 9.99831921e-01 1.39865104e-02 1.18535385e-02 1.79635587e+01] [-1.37939159e-02 9.99773994e-01 -1.61767746e-02 -1.15177389e-01] [-1.20771162e-02 1.60105489e-02 9.99798883e-01 -2.62541666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90719347 meters Centerline goodness : 0.891862 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99792822e-01 1.68932627e-02 1.13547650e-02 1.79654087e+01] [-1.67404839e-02 9.99769830e-01 -1.34180455e-02 -1.13198163e-01] [-1.15788260e-02 1.32251813e-02 9.99845501e-01 -2.62635888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93719347 meters Centerline goodness : 0.892363 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99751561e-01 1.94706019e-02 1.08495057e-02 1.79678297e+01] [-1.93517430e-02 9.99752723e-01 -1.09546034e-02 -1.11366381e-01] [-1.10601156e-02 1.07419250e-02 9.99881135e-01 -2.62810640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96719346999998 meters Centerline goodness : 0.890827 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99668230e-01 2.38378015e-02 9.75654134e-03 1.79724172e+01] [-2.37620746e-02 9.99687171e-01 -7.80535453e-03 -1.07848618e-01] [-9.93955170e-03 7.57092928e-03 9.99921940e-01 -2.63129447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99719346999998 meters Centerline goodness : 0.887601 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99684095e-01 2.48767729e-02 3.58566400e-03 1.79594520e+01] [-2.48417140e-02 9.99646151e-01 -9.51117671e-03 -1.03279328e-01] [-3.82100260e-03 9.41909804e-03 9.99948339e-01 -2.63031122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02719347 meters Centerline goodness : 0.885961 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99674761e-01 2.53599321e-02 2.69200372e-03 1.79613356e+01] [-2.53297116e-02 9.99621650e-01 -1.07220701e-02 -9.98240561e-02] [-2.96289617e-03 1.06503952e-02 9.99938893e-01 -2.63001075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05719347 meters Centerline goodness : 0.887749 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99570432e-01 2.92152707e-02 2.32778497e-03 1.79624983e+01] [-2.91981543e-02 9.99548598e-01 -7.07591900e-03 -9.92645678e-02] [-2.53345910e-03 7.00491239e-03 9.99972256e-01 -2.63029332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08719347 meters Centerline goodness : 0.887749 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99570432e-01 2.92152707e-02 2.32778497e-03 1.79624983e+01] [-2.91981543e-02 9.99548598e-01 -7.07591900e-03 -9.92645678e-02] [-2.53345910e-03 7.00491239e-03 9.99972256e-01 -2.63029332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11719347 meters Centerline goodness : 0.885639 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99430464e-01 3.36969259e-02 1.80689404e-03 1.79640402e+01] [-3.36900696e-02 9.99425482e-01 -3.69944711e-03 -9.75635599e-02] [-1.93051594e-03 3.63646576e-03 9.99991525e-01 -2.63040775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14719347 meters Centerline goodness : 0.883747 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.63 [[ 9.99425569e-01 3.38647937e-02 1.30714269e-03 1.79648380e+01] [-3.38592350e-02 9.99418352e-01 -4.06320842e-03 -9.70902935e-02] [-1.44398210e-03 4.01661554e-03 9.99990891e-01 -2.63004492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17719347 meters Centerline goodness : 0.887838 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.10, Z:-2.63 [[ 9.99421739e-01 3.39932302e-02 8.04752012e-04 1.79656295e+01] [-3.39894445e-02 9.99412833e-01 -4.32524767e-03 -9.68882833e-02] [-9.51308628e-04 4.29539348e-03 9.99990322e-01 -2.62961061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20719347 meters Centerline goodness : 0.884365 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.09, Z:-2.63 [[ 9.99507301e-01 3.13868119e-02 -1.53497903e-04 1.79664917e+01] [-3.13869462e-02 9.99468507e-01 -8.80703624e-03 -9.47563749e-02] [-1.23008470e-04 8.80751486e-03 9.99961206e-01 -2.62797698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23719347 meters Centerline goodness : 0.889023 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.62 [[ 9.99464239e-01 3.27293038e-02 1.65036247e-04 1.79637488e+01] [-3.27269035e-02 9.99431679e-01 -8.07892932e-03 -9.64397606e-02] [-4.29360185e-04 8.06919982e-03 9.99967351e-01 -2.62427936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26719347 meters Centerline goodness : 0.885167 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.62 [[ 9.99459684e-01 3.28677977e-02 -2.16739867e-04 1.79642442e+01] [-3.28684974e-02 9.99431218e-01 -7.54334298e-03 -9.80055175e-02] [-3.13164822e-05 7.54639111e-03 9.99971525e-01 -2.62402589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29719347 meters Centerline goodness : 0.884968 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.10, Z:-2.62 [[ 9.99455552e-01 3.29924658e-02 -3.10946082e-04 1.79645829e+01] [-3.29937786e-02 9.99435200e-01 -6.37899551e-03 -1.00978121e-01] [ 1.00311668e-04 6.38578177e-03 9.99979606e-01 -2.62462089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32719347 meters Centerline goodness : 0.886270 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.10, Z:-2.63 [[ 9.99545938e-01 3.01081747e-02 -1.18997284e-03 1.79662543e+01] [-3.01174854e-02 9.99507739e-01 -8.78727148e-03 -1.03924396e-01] [ 9.24818357e-04 8.81912050e-03 9.99960683e-01 -2.62532137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35719347 meters Centerline goodness : 0.886852 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.11, Z:-2.63 [[ 9.99569247e-01 2.93020330e-02 -1.64632377e-03 1.79682497e+01] [-2.93133941e-02 9.99543156e-01 -7.36231868e-03 -1.09912894e-01] [ 1.42984076e-03 7.40740668e-03 9.99971543e-01 -2.62778668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38719347 meters Centerline goodness : 0.889592 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.12, Z:-2.63 [[ 9.99748489e-01 2.23528511e-02 -1.81879021e-03 1.79689765e+01] [-2.23718944e-02 9.99686673e-01 -1.12273997e-02 -1.18446958e-01] [ 1.56725594e-03 1.12652657e-02 9.99935317e-01 -2.62997855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41719347 meters Centerline goodness : 0.893799 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.12, Z:-2.63 [[ 9.99822368e-01 1.87557272e-02 -1.85890575e-03 1.79689792e+01] [-1.87784081e-02 9.99738571e-01 -1.30445415e-02 -1.23378792e-01] [ 1.61375991e-03 1.30771317e-02 9.99913188e-01 -2.63076494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44719347 meters Centerline goodness : 0.896920 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.13, Z:-2.63 [[ 9.99886563e-01 1.48661296e-02 -2.42063858e-03 1.79702812e+01] [-1.49023277e-02 9.99765782e-01 -1.56940294e-02 -1.28221106e-01] [ 2.18676215e-03 1.57283223e-02 9.99873911e-01 -2.63130699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47719347 meters Centerline goodness : 0.896422 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.14, Z:-2.63 [[ 9.99962570e-01 7.96448241e-03 -3.38032639e-03 1.79736505e+01] [-8.03245422e-03 9.99755636e-01 -2.05948742e-02 -1.36929699e-01] [ 3.21547285e-03 2.06212556e-02 9.99782189e-01 -2.63382601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50719347 meters Centerline goodness : 0.899147 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.14, Z:-2.64 [[ 9.99975470e-01 5.70655310e-03 -4.06147050e-03 1.79763892e+01] [-5.79477814e-03 9.99740015e-01 -2.20527274e-02 -1.40651281e-01] [ 3.93456952e-03 2.20757218e-02 9.99748559e-01 -2.63559494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53719347 meters Centerline goodness : 0.897192 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.14, Z:-2.64 [[ 9.99973376e-01 5.72589070e-03 -4.52349503e-03 1.79773676e+01] [-5.81946971e-03 9.99763538e-01 -2.09523889e-02 -1.44392594e-01] [ 4.40245430e-03 2.09781554e-02 9.99770241e-01 -2.63580715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56719347 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.15, Z:-2.63 [[ 9.99985555e-01 2.96196996e-03 -4.48516176e-03 1.79760075e+01] [-3.06324623e-03 9.99736621e-01 -2.27443621e-02 -1.49600501e-01] [ 4.41661234e-03 2.27577727e-02 9.99731253e-01 -2.63411048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59719347 meters Centerline goodness : 0.898041 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.15, Z:-2.63 [[ 9.99998174e-01 1.88665315e-03 3.04680470e-04 1.79835487e+01] [-1.88247134e-03 9.99911274e-01 -1.31870981e-02 -1.54698972e-01] [-3.29532917e-04 1.31865004e-02 9.99913000e-01 -2.63405432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62719347 meters Centerline goodness : 0.899108 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.16, Z:-2.63 [[ 9.99998016e-01 1.98103065e-03 2.09593797e-04 1.79833041e+01] [-1.97825560e-03 9.99919893e-01 -1.25017370e-02 -1.56439352e-01] [-2.34343331e-04 1.25012976e-02 9.99921828e-01 -2.63330262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65719347 meters Centerline goodness : 0.902388 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.16, Z:-2.63 [[ 9.99998529e-01 1.71455708e-03 -5.28289439e-05 1.79841378e+01] [-1.71507954e-03 9.99921960e-01 -1.23746546e-02 -1.57320707e-01] [ 3.16077695e-05 1.23747270e-02 9.99923430e-01 -2.63364133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68719347 meters Centerline goodness : 0.898845 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.16, Z:-2.63 [[ 9.99999466e-01 9.50299834e-04 -4.05051421e-04 1.79849838e+01] [-9.55262202e-04 9.99922259e-01 -1.24323375e-02 -1.58600856e-01] [ 3.93205483e-04 1.24327178e-02 9.99922633e-01 -2.63373466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71719346999998 meters Centerline goodness : 0.900992 Centerline is valid? [False, False] Translation: X:17.99, Y:-0.16, Z:-2.63 [[ 9.99999583e-01 6.97074895e-04 -5.89167068e-04 1.79852824e+01] [-7.04311764e-04 9.99923196e-01 -1.23735923e-02 -1.59112080e-01] [ 5.80496497e-04 1.23740021e-02 9.99923271e-01 -2.63354622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74719346999998 meters Centerline goodness : 0.902536 Centerline is valid? [False, False] Translation: X:17.99, Y:-0.16, Z:-2.63 [[ 9.99999621e-01 2.11562218e-04 -8.44850636e-04 1.79856417e+01] [-2.22176756e-04 9.99920799e-01 -1.25835375e-02 -1.59286527e-01] [ 8.42121522e-04 1.25837205e-02 9.99920467e-01 -2.63320901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77719347 meters Centerline goodness : 0.900215 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99983519e-01 -3.05772110e-03 4.85913491e-03 1.79952025e+01] [ 3.08898302e-03 9.99974497e-01 -6.43921056e-03 -1.60887403e-01] [-4.83932168e-03 6.45411423e-03 9.99967462e-01 -2.63570856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80719347 meters Centerline goodness : 0.908310 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99982913e-01 -3.76134254e-03 4.47510481e-03 1.79962774e+01] [ 3.79176174e-03 9.99969633e-01 -6.80847260e-03 -1.61293764e-01] [-4.44935992e-03 6.82532480e-03 9.99966809e-01 -2.63607291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83719347 meters Centerline goodness : 0.903923 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99979243e-01 -5.14972183e-03 3.87219023e-03 1.79983455e+01] [ 5.18118087e-03 9.99953294e-01 -8.15869199e-03 -1.59787422e-01] [-3.82999438e-03 8.17858516e-03 9.99959220e-01 -2.63721644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86719347 meters Centerline goodness : 0.903371 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.16, Z:-2.64 [[ 9.99978070e-01 -5.58934338e-03 3.55240446e-03 1.79995675e+01] [ 5.62078426e-03 9.99944569e-01 -8.90310597e-03 -1.57565748e-01] [-3.50244503e-03 8.92287802e-03 9.99954057e-01 -2.63803350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89719347 meters Centerline goodness : 0.904798 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.15, Z:-2.64 [[ 9.99975490e-01 -6.26917425e-03 3.11714302e-03 1.80013183e+01] [ 6.30047226e-03 9.99928798e-01 -1.01342699e-02 -1.54181766e-01] [-3.05338757e-03 1.01536610e-02 9.99943788e-01 -2.63928798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92719347 meters Centerline goodness : 0.904875 Centerline is valid? [False, False] Translation: X:18.02, Y:-0.15, Z:-2.64 [[ 9.99979087e-01 -5.15454399e-03 3.90592332e-03 1.80212072e+01] [ 5.21441805e-03 9.99866625e-01 -1.54771322e-02 -1.46902998e-01] [-3.82562481e-03 1.54971757e-02 9.99872593e-01 -2.64308892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95719347 meters Centerline goodness : 0.904461 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.14, Z:-2.64 [[ 9.99969435e-01 -4.39812032e-03 6.46424436e-03 1.80403572e+01] [ 4.51592135e-03 9.99821916e-01 -1.83232925e-02 -1.43102953e-01] [-6.38250513e-03 1.83519244e-02 9.99811217e-01 -2.64415888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98719347 meters Centerline goodness : 0.900890 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.14, Z:-2.64 [[ 9.99978069e-01 -3.04431824e-03 5.88164600e-03 1.80423650e+01] [ 3.14355005e-03 9.99851625e-01 -1.69365122e-02 -1.40556753e-01] [-5.82921318e-03 1.69546300e-02 9.99839267e-01 -2.64497738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01719347 meters Centerline goodness : 0.902711 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.14, Z:-2.65 [[ 9.99960828e-01 -2.69349436e-03 8.43137390e-03 1.80609152e+01] [ 2.86498505e-03 9.99787915e-01 -2.03940322e-02 -1.36809162e-01] [-8.37465452e-03 2.04173891e-02 9.99756468e-01 -2.64554179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04719347 meters Centerline goodness : 0.898312 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.13, Z:-2.65 [[ 9.99968859e-01 -7.12848726e-04 7.85957518e-03 1.80627187e+01] [ 8.57605688e-04 9.99829786e-01 -1.84299519e-02 -1.34094215e-01] [-7.84509961e-03 1.84361184e-02 9.99799262e-01 -2.64624343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07719347 meters Centerline goodness : 0.897311 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.12, Z:-2.65 [[ 9.99963260e-01 -3.09000745e-03 7.99563063e-03 1.80918723e+01] [ 3.23829072e-03 9.99821769e-01 -1.85995374e-02 -1.22066467e-01] [-7.93673285e-03 1.86247463e-02 9.99795043e-01 -2.64728237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10719347 meters Centerline goodness : 0.897113 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.12, Z:-2.65 [[ 9.99971531e-01 -1.94636306e-03 7.29027526e-03 1.80944380e+01] [ 2.07460778e-03 9.99842513e-01 -1.76251482e-02 -1.17684248e-01] [-7.25482219e-03 1.76397709e-02 9.99818086e-01 -2.64861119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13719347 meters Centerline goodness : 0.898913 Centerline is valid? [False, False] Translation: X:18.10, Y:-0.11, Z:-2.65 [[ 9.99978318e-01 -1.12000897e-03 6.48910693e-03 1.80973169e+01] [ 1.22960551e-03 9.99856259e-01 -1.69100114e-02 -1.13668842e-01] [-6.46923482e-03 1.69176238e-02 9.99835958e-01 -2.65009701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16719347 meters Centerline goodness : 0.889754 Centerline is valid? [False, False] Translation: X:18.10, Y:-0.11, Z:-2.65 [[ 9.99983450e-01 -6.19058779e-05 5.75286844e-03 1.80999719e+01] [ 1.53222589e-04 9.99873986e-01 -1.58741639e-02 -1.10420364e-01] [-5.75116079e-03 1.58747827e-02 9.99857448e-01 -2.65150389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19719347 meters Centerline goodness : 0.883886 Centerline is valid? [False, False] Translation: X:18.12, Y:-0.10, Z:-2.65 [[ 9.99974558e-01 -1.54528278e-03 6.96381679e-03 1.81210511e+01] [ 1.70104861e-03 9.99747243e-01 -2.24177536e-02 -1.00227113e-01] [-6.92741487e-03 2.24290291e-02 9.99724437e-01 -2.65446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22719347 meters Centerline goodness : 0.883136 Centerline is valid? [False, False] Translation: X:18.14, Y:-0.10, Z:-2.66 [[ 9.99984427e-01 1.31448605e-04 5.57924885e-03 1.81435906e+01] [-4.47113644e-06 9.99741122e-01 -2.27527957e-02 -9.62746929e-02] [-5.58079533e-03 2.27524164e-02 9.99725553e-01 -2.65582131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25719347 meters Centerline goodness : 0.882509 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.08, Z:-2.66 [[ 9.99976970e-01 4.91698965e-03 4.67783280e-03 1.81466277e+01] [-4.82472888e-03 9.99797553e-01 -1.95339279e-02 -8.48890576e-02] [-4.77293391e-03 1.95109088e-02 9.99798251e-01 -2.65704416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28719347 meters Centerline goodness : 0.886018 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.08, Z:-2.66 [[ 9.99960743e-01 6.90798074e-03 5.54915279e-03 1.81676331e+01] [-6.78287270e-03 9.99729286e-01 -2.22564106e-02 -7.81052715e-02] [-5.70139741e-03 2.22178977e-02 9.99736895e-01 -2.65928009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31719347 meters Centerline goodness : 0.885899 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.07, Z:-2.66 [[ 9.99931869e-01 9.84424060e-03 6.27282271e-03 1.81888767e+01] [-9.69460180e-03 9.99677890e-01 -2.34548902e-02 -7.23489451e-02] [-6.50169775e-03 2.33924796e-02 9.99705216e-01 -2.66168651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34719347 meters Centerline goodness : 0.882381 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.07, Z:-2.66 [[ 9.99892888e-01 1.29843352e-02 6.75420129e-03 1.82097940e+01] [-1.28203590e-02 9.99635024e-01 -2.37793406e-02 -6.76170458e-02] [-7.06049510e-03 2.36902023e-02 9.99694415e-01 -2.66308739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37719347 meters Centerline goodness : 0.880638 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.06, Z:-2.66 [[ 9.99846684e-01 1.62226735e-02 6.59046935e-03 1.82106360e+01] [-1.60778635e-02 9.99640389e-01 -2.14614605e-02 -6.30063904e-02] [-6.93626161e-03 2.13522094e-02 9.99747954e-01 -2.66322949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40719347 meters Centerline goodness : 0.884016 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.05, Z:-2.66 [[ 9.99729902e-01 2.24088793e-02 6.16156298e-03 1.82117898e+01] [-2.22988737e-02 9.99600313e-01 -1.73774091e-02 -5.46326157e-02] [-6.54850855e-03 1.72353196e-02 9.99830016e-01 -2.66237559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43719347 meters Centerline goodness : 0.879370 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.05, Z:-2.66 [[ 9.99667245e-01 2.51514156e-02 5.72762318e-03 1.82133254e+01] [-2.50632942e-02 9.99573778e-01 -1.49697715e-02 -5.18285894e-02] [-6.10169288e-03 1.48212371e-02 9.99871542e-01 -2.66295882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46719346999998 meters Centerline goodness : 0.882840 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99641617e-01 2.62407337e-02 5.29729620e-03 1.82157240e+01] [-2.61650017e-02 9.99561101e-01 -1.38923908e-02 -4.98232677e-02] [-5.65951775e-03 1.37488083e-02 9.99889464e-01 -2.66466232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49719346999998 meters Centerline goodness : 0.881742 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99662526e-01 2.54081359e-02 5.40934435e-03 1.82156539e+01] [-2.53244378e-02 9.99566494e-01 -1.50165763e-02 -4.74393501e-02] [-5.78854257e-03 1.48745200e-02 9.99872613e-01 -2.66463928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52719347 meters Centerline goodness : 0.878384 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99668468e-01 2.51743259e-02 5.40438071e-03 1.82156609e+01] [-2.50879154e-02 9.99565048e-01 -1.55019470e-02 -4.60577443e-02] [-5.79228113e-03 1.53612229e-02 9.99865232e-01 -2.66449310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55719347 meters Centerline goodness : 0.882262 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.04, Z:-2.67 [[ 9.99637529e-01 2.64799141e-02 4.86051148e-03 1.82180206e+01] [-2.64094155e-02 9.99552657e-01 -1.40367218e-02 -4.42714223e-02] [-5.23002835e-03 1.39032706e-02 9.99889667e-01 -2.66585792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58719347 meters Centerline goodness : 0.879906 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.04, Z:-2.67 [[ 9.99565034e-01 2.90925867e-02 4.83358804e-03 1.82183602e+01] [-2.90324648e-02 9.99505535e-01 -1.20748377e-02 -3.97206100e-02] [-5.18248627e-03 1.19292546e-02 9.99915414e-01 -2.66572653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61719347 meters Centerline goodness : 0.884821 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.04, Z:-2.67 [[ 9.99570791e-01 2.89369618e-02 4.57015471e-03 1.82193102e+01] [-2.88762342e-02 9.99500556e-01 -1.28374751e-02 -3.73010911e-02] [-4.93934971e-03 1.26999963e-02 9.99907152e-01 -2.66619888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64719347 meters Centerline goodness : 0.880956 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.03, Z:-2.67 [[ 9.99585698e-01 2.84758314e-02 4.19047787e-03 1.82204637e+01] [-2.84149946e-02 9.99499226e-01 -1.39242350e-02 -3.48113078e-02] [-4.58488356e-03 1.37993937e-02 9.99894272e-01 -2.66666190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67719347 meters Centerline goodness : 0.884639 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.03, Z:-2.67 [[ 9.99552939e-01 2.96872931e-02 3.54790803e-03 1.82233066e+01] [-2.96387234e-02 9.99475655e-01 -1.30368817e-02 -3.26149039e-02] [-3.93307743e-03 1.29258980e-02 9.99908722e-01 -2.66844157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70719347 meters Centerline goodness : 0.883881 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.02, Z:-2.67 [[ 9.99456303e-01 3.27747657e-02 3.59345423e-03 1.82230217e+01] [-3.27330328e-02 9.99402324e-01 -1.11149623e-02 -2.49948015e-02] [-3.95559680e-03 1.09912945e-02 9.99931770e-01 -2.66753884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73719347 meters Centerline goodness : 0.880170 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.02, Z:-2.67 [[ 9.99427479e-01 3.37092545e-02 2.89826168e-03 1.82253059e+01] [-3.36775834e-02 9.99379070e-01 -1.03583025e-02 -2.15001619e-02] [-3.24563272e-03 1.02547657e-02 9.99942151e-01 -2.66842238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76719347 meters Centerline goodness : 0.878068 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.02, Z:-2.67 [[ 9.99436276e-01 3.34582709e-02 2.77036390e-03 1.82254384e+01] [-3.34255092e-02 9.99379234e-01 -1.11302248e-02 -1.87711039e-02] [-3.14104223e-03 1.10313496e-02 9.99934219e-01 -2.66805356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79719347 meters Centerline goodness : 0.877919 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.02, Z:-2.67 [[ 9.99446245e-01 3.31695239e-02 2.64314295e-03 1.82255375e+01] [-3.31361460e-02 9.99381139e-01 -1.18040528e-02 -1.68224231e-02] [-3.03304202e-03 1.17099326e-02 9.99926836e-01 -2.66772725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82719347 meters Centerline goodness : 0.875635 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.01, Z:-2.67 [[ 9.99374017e-01 3.52344500e-02 3.17913138e-03 1.82240317e+01] [-3.52007397e-02 9.99329219e-01 -1.01004819e-02 -1.35405315e-02] [-3.53288381e-03 9.98225142e-03 9.99943935e-01 -2.66666442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85719347 meters Centerline goodness : 0.879525 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.01, Z:-2.67 [[ 9.99337795e-01 3.56505095e-02 7.28100635e-03 1.82161021e+01] [-3.56236320e-02 9.99358096e-01 -3.78841721e-03 -1.17618479e-02] [-7.41139165e-03 3.52653261e-03 9.99966317e-01 -2.66924650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88719347 meters Centerline goodness : 0.875553 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.01, Z:-2.67 [[ 9.99417406e-01 3.36039352e-02 5.96854645e-03 1.81958428e+01] [-3.36614822e-02 9.99385065e-01 9.81818901e-03 -1.02718898e-02] [-5.63494639e-03 -1.00133791e-02 9.99933988e-01 -2.66701382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91719347 meters Centerline goodness : 0.879098 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.01, Z:-2.66 [[ 9.99462290e-01 3.25134879e-02 4.24321727e-03 1.81736704e+01] [-3.25988443e-02 9.99228657e-01 2.18953653e-02 -8.66455094e-03] [-3.52804960e-03 -2.20219159e-02 9.99751263e-01 -2.66378523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94719347 meters Centerline goodness : 0.880465 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.01, Z:-2.67 [[ 9.99360848e-01 3.51249786e-02 6.64307561e-03 1.81706959e+01] [-3.52864980e-02 9.99038960e-01 2.60003878e-02 -8.69000147e-03] [-5.72342828e-03 -2.62181805e-02 9.99639860e-01 -2.66527463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97719347 meters Centerline goodness : 0.876571 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.01, Z:-2.67 [[ 9.99228050e-01 3.87462532e-02 6.48325341e-03 1.81717048e+01] [-3.89251322e-02 9.98785161e-01 3.02164941e-02 -9.56285476e-03] [-5.30460137e-03 -3.04455300e-02 9.99522351e-01 -2.66592790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00719347 meters Centerline goodness : 0.879215 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99166092e-01 4.08238668e-02 7.29664178e-04 1.81631675e+01] [-4.08173223e-02 9.98234834e-01 4.31411903e-02 -1.33626980e-02] [ 1.03281401e-03 -4.31349975e-02 9.99068719e-01 -2.66312473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03719347 meters Centerline goodness : 0.879215 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99165647e-01 4.08336152e-02 7.91463684e-04 1.81630762e+01] [-4.08299720e-02 9.98245211e-01 4.28883645e-02 -1.28234401e-02] [ 9.61212141e-04 -4.28848959e-02 9.99079557e-01 -2.66320296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06719347 meters Centerline goodness : 0.878473 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99294914e-01 3.75401166e-02 6.43274186e-04 1.81630602e+01] [-3.75368256e-02 9.98543027e-01 3.87660952e-02 -1.18435748e-02] [ 8.12946783e-04 -3.87629082e-02 9.99248105e-01 -2.66310409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09719347 meters Centerline goodness : 0.877795 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99278414e-01 3.79744382e-02 7.70008200e-04 1.81625979e+01] [-3.79752327e-02 9.98499109e-01 3.94640547e-02 -1.32280791e-02] [ 7.29772805e-04 -3.94648193e-02 9.99220694e-01 -2.66247485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12719347 meters Centerline goodness : 0.878897 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.01, Z:-2.66 [[ 9.99248654e-01 3.87481874e-02 8.40499916e-04 1.81619415e+01] [-3.87505521e-02 9.98434945e-01 4.03243685e-02 -1.40770833e-02] [ 7.23311701e-04 -4.03266408e-02 9.99186288e-01 -2.66143398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15719347 meters Centerline goodness : 0.879766 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.02, Z:-2.66 [[ 9.99138319e-01 4.15044100e-02 6.01149835e-05 1.81642051e+01] [-4.14669882e-02 9.98173839e-01 4.39257924e-02 -1.59640829e-02] [ 1.76310889e-03 -4.38904352e-02 9.99034795e-01 -2.66191726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18719347 meters Centerline goodness : 0.881591 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.02, Z:-2.66 [[ 9.99072371e-01 4.30626961e-02 -3.52581842e-05 1.81643217e+01] [-4.30181765e-02 9.98076057e-01 4.46499772e-02 -1.64966622e-02] [ 1.95793875e-03 -4.46070419e-02 9.99002692e-01 -2.66186268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21719346999998 meters Centerline goodness : 0.878045 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.02, Z:-2.66 [[ 9.99068681e-01 4.31443612e-02 -5.78705949e-04 1.81657943e+01] [-4.30765520e-02 9.98091850e-01 4.42387852e-02 -1.60167869e-02] [ 2.48625582e-03 -4.41726561e-02 9.99020818e-01 -2.66249850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24719346999998 meters Centerline goodness : 0.880309 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.02, Z:-2.66 [[ 9.99056342e-01 4.34214150e-02 -1.00301591e-03 1.81668437e+01] [-4.33339587e-02 9.98071038e-01 4.44563963e-02 -1.71294711e-02] [ 2.93144076e-03 -4.43709800e-02 9.99010822e-01 -2.66282497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27719347 meters Centerline goodness : 0.882576 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.02, Z:-2.66 [[ 9.99054958e-01 4.34417172e-02 -1.41724502e-03 1.81678447e+01] [-4.33347515e-02 9.98056174e-01 4.47880886e-02 -1.90543909e-02] [ 3.36016162e-03 -4.46843460e-02 9.98995505e-01 -2.66291135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30719347 meters Centerline goodness : 0.875528 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.03, Z:-2.66 [[ 9.99290165e-01 3.76688468e-02 4.73868419e-04 1.81805970e+01] [-3.76307003e-02 9.97532633e-01 5.92669951e-02 -2.73342907e-02] [ 1.75982015e-03 -5.92427573e-02 9.98242054e-01 -2.65688346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33719347 meters Centerline goodness : 0.878091 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.03, Z:-2.65 [[ 9.99419134e-01 3.37880726e-02 -4.44531276e-03 1.81890528e+01] [-3.35244430e-02 9.98190004e-01 4.99282297e-02 -2.95576436e-02] [ 6.12424541e-03 -4.97502014e-02 9.98742915e-01 -2.65338355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36719347 meters Centerline goodness : 0.879669 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.03, Z:-2.65 [[ 9.99645401e-01 2.61407314e-02 -5.07287847e-03 1.81897652e+01] [-2.59008251e-02 9.98753123e-01 4.26772481e-02 -3.12972213e-02] [ 6.18216769e-03 -4.25307231e-02 9.99076032e-01 -2.65317971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39719347 meters Centerline goodness : 0.876976 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.03, Z:-2.65 [[ 9.99820829e-01 1.81235525e-02 -5.46320638e-03 1.81897369e+01] [-1.79201252e-02 9.99218514e-01 3.52310918e-02 -3.34534519e-02] [ 6.09744951e-03 -3.51268781e-02 9.99364260e-01 -2.65251315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42719347 meters Centerline goodness : 0.877157 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.04, Z:-2.65 [[ 9.99933031e-01 1.01161689e-02 -5.62113505e-03 1.81893451e+01] [-9.95614978e-03 9.99563890e-01 2.78011693e-02 -3.55527214e-02] [ 5.89992494e-03 -2.77433426e-02 9.99597668e-01 -2.65177122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45719347 meters Centerline goodness : 0.880721 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.04, Z:-2.65 [[ 9.99983152e-01 1.91223347e-03 -5.48086194e-03 1.81884451e+01] [-1.79169565e-03 9.99758261e-01 2.19136602e-02 -4.17688259e-02] [ 5.52144104e-03 -2.19034709e-02 9.99744843e-01 -2.65088997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48719347 meters Centerline goodness : 0.881125 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.04, Z:-2.65 [[ 9.99974828e-01 -3.43399525e-03 -6.20892008e-03 1.81911969e+01] [ 3.54086025e-03 9.99844364e-01 1.72832519e-02 -4.38722418e-02] [ 6.14860314e-03 -1.73048017e-02 9.99831355e-01 -2.65245779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51719347 meters Centerline goodness : 0.882687 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.05, Z:-2.65 [[ 9.99939904e-01 -8.43202024e-03 -7.00637590e-03 1.81943120e+01] [ 8.52211432e-03 9.99880086e-01 1.29300874e-02 -4.62139542e-02] [ 6.89650898e-03 -1.29890195e-02 9.99891856e-01 -2.65431978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54719347 meters Centerline goodness : 0.884611 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.05, Z:-2.66 [[ 9.99866859e-01 -1.43591785e-02 -7.75103064e-03 1.81980482e+01] [ 1.44205208e-02 9.99864675e-01 7.91707713e-03 -5.21492355e-02] [ 7.63629901e-03 -8.02779694e-03 9.99938619e-01 -2.65714764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57719347 meters Centerline goodness : 0.886258 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.05, Z:-2.66 [[ 9.99900858e-01 -1.34629703e-02 -4.12583460e-03 1.82091245e+01] [ 1.34583117e-02 9.99908766e-01 -1.15480790e-03 -5.25923819e-02] [ 4.14100532e-03 1.09916665e-03 9.99990822e-01 -2.66044081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60719347 meters Centerline goodness : 0.889181 Centerline is valid? [False, False] Translation: X:18.22, Y:-0.05, Z:-2.66 [[ 9.99949518e-01 -9.79375011e-03 -2.24586016e-03 1.82220288e+01] [ 9.77907590e-03 9.99931353e-01 -6.45434874e-03 -5.33358883e-02] [ 2.30891827e-03 6.43206047e-03 9.99976648e-01 -2.66381089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63719347 meters Centerline goodness : 0.886471 Centerline is valid? [False, False] Translation: X:18.24, Y:-0.05, Z:-2.67 [[ 9.99980354e-01 -6.18909864e-03 9.92842513e-04 1.82351257e+01] [ 6.20041604e-03 9.99910769e-01 -1.18325409e-02 -5.31810913e-02] [-9.19521158e-04 1.18384644e-02 9.99929500e-01 -2.66779696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66719347 meters Centerline goodness : 0.888943 Centerline is valid? [False, False] Translation: X:18.25, Y:-0.05, Z:-2.67 [[ 9.99987246e-01 -1.88764183e-03 4.68451465e-03 1.82486373e+01] [ 1.96789498e-03 9.99850364e-01 -1.71865225e-02 -5.28027354e-02] [-4.65137168e-03 1.71955219e-02 9.99841327e-01 -2.67217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69719347 meters Centerline goodness : 0.888763 Centerline is valid? [False, False] Translation: X:18.27, Y:-0.05, Z:-2.67 [[ 9.99996957e-01 3.23520266e-04 2.44585010e-03 1.82712866e+01] [-2.85915067e-04 9.99881990e-01 -1.53598498e-02 -5.39386559e-02] [-2.45053069e-03 1.53591038e-02 9.99879039e-01 -2.67351764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72719347 meters Centerline goodness : 0.890365 Centerline is valid? [False, False] Translation: X:18.29, Y:-0.05, Z:-2.68 [[ 9.99998375e-01 1.17238607e-03 1.36981224e-03 1.82935443e+01] [-1.14972276e-03 9.99864356e-01 -1.64301020e-02 -5.31880410e-02] [-1.38888886e-03 1.64285004e-02 9.99864078e-01 -2.67552115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75719347 meters Centerline goodness : 0.889733 Centerline is valid? [False, False] Translation: X:18.31, Y:-0.05, Z:-2.68 [[ 9.99982064e-01 5.45547116e-03 2.47160274e-03 1.83069171e+01] [-5.39965675e-03 9.99742232e-01 -2.20524976e-02 -5.15870731e-02] [-2.59127240e-03 2.20387563e-02 9.99753759e-01 -2.67892793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78719347 meters Centerline goodness : 0.891637 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99894382e-01 1.45213084e-02 -5.96712660e-04 1.83378139e+01] [-1.45316691e-02 9.99583901e-01 -2.49169687e-02 -4.78024784e-02] [ 2.34637383e-04 2.49230082e-02 9.99689346e-01 -2.67916605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81719347 meters Centerline goodness : 0.892848 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99815481e-01 1.91840757e-02 -9.87490232e-04 1.83390264e+01] [-1.92003231e-02 9.99604441e-01 -2.05501599e-02 -4.74760083e-02] [ 5.92863799e-04 2.05653281e-02 9.99788335e-01 -2.67944290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84719347 meters Centerline goodness : 0.892535 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99610852e-01 2.78681159e-02 -1.22969282e-03 1.83401935e+01] [-2.78816418e-02 9.99528483e-01 -1.28618266e-02 -4.63417195e-02] [ 8.70678125e-04 1.28911073e-02 9.99916527e-01 -2.67957149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87719347 meters Centerline goodness : 0.891793 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.04, Z:-2.68 [[ 9.99581543e-01 2.88746005e-02 -1.73114182e-03 1.83409571e+01] [-2.88947472e-02 9.99497459e-01 -1.30354482e-02 -4.39972614e-02] [ 1.35387849e-03 1.30800143e-02 9.99913536e-01 -2.67895752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90719347 meters Centerline goodness : 0.891147 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.04, Z:-2.68 [[ 9.99560049e-01 2.95693348e-02 -2.31582795e-03 1.83421002e+01] [-2.95972279e-02 9.99475876e-01 -1.31140181e-02 -4.29422170e-02] [ 1.92684138e-03 1.31767906e-02 9.99911326e-01 -2.67877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93719347 meters Centerline goodness : 0.892496 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99443721e-01 3.32454633e-02 -2.64351048e-03 1.83430485e+01] [-3.32674244e-02 9.99408184e-01 -8.74983352e-03 -4.54041094e-02] [ 2.35105374e-03 8.83290896e-03 9.99958225e-01 -2.67891280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96719346999998 meters Centerline goodness : 0.890555 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99458671e-01 3.28057994e-02 -2.47879589e-03 1.83404142e+01] [-3.28273943e-02 9.99418311e-01 -9.24129249e-03 -4.69709643e-02] [ 2.17418602e-03 9.31766232e-03 9.99954226e-01 -2.67578273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99719346999998 meters Centerline goodness : 0.890179 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.67 [[ 9.99562358e-01 2.94370976e-02 -2.92409992e-03 1.83405232e+01] [-2.94723386e-02 9.99483061e-01 -1.28449119e-02 -4.68003787e-02] [ 2.54447142e-03 1.29254705e-02 9.99913225e-01 -2.67496244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02719347 meters Centerline goodness : 0.887991 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99578401e-01 2.88444152e-02 -3.31960293e-03 1.83413335e+01] [-2.88824900e-02 9.99510077e-01 -1.20585409e-02 -5.01072194e-02] [ 2.97015502e-03 1.21493354e-02 9.99921783e-01 -2.67512038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05719347 meters Centerline goodness : 0.888291 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.05, Z:-2.68 [[ 9.99677043e-01 2.51541243e-02 -3.61659227e-03 1.83415093e+01] [-2.52044820e-02 9.99575299e-01 -1.46272062e-02 -5.39363750e-02] [ 3.24712174e-03 1.47136366e-02 9.99886476e-01 -2.67504713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08719347 meters Centerline goodness : 0.889428 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.07, Z:-2.67 [[ 9.99836243e-01 1.78269813e-02 -3.11236144e-03 1.83394102e+01] [-1.78805186e-02 9.99675985e-01 -1.81166289e-02 -6.56782634e-02] [ 2.78838819e-03 1.81693128e-02 9.99831036e-01 -2.67429958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11719347 meters Centerline goodness : 0.892247 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.07, Z:-2.67 [[ 9.99930491e-01 1.07852370e-02 -4.76358637e-03 1.83361559e+01] [-1.08144106e-02 9.99922662e-01 -6.14160130e-03 -7.37635679e-02] [ 4.69697933e-03 6.19268979e-03 9.99969794e-01 -2.67302755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14719347 meters Centerline goodness : 0.894922 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.08, Z:-2.67 [[ 9.99961240e-01 7.12792638e-03 -5.16834697e-03 1.83373778e+01] [-7.17452381e-03 9.99933272e-01 -9.05414702e-03 -7.63720254e-02] [ 5.10346480e-03 9.09087651e-03 9.99945654e-01 -2.67358076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17719347 meters Centerline goodness : 0.891269 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.08, Z:-2.67 [[ 9.99964956e-01 5.98238461e-03 -5.85641474e-03 1.83398443e+01] [-6.03594567e-03 9.99939727e-01 -9.17116062e-03 -7.89812381e-02] [ 5.80119634e-03 9.20618823e-03 9.99940794e-01 -2.67494326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20719347 meters Centerline goodness : 0.886447 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.08, Z:-2.68 [[ 9.99961206e-01 5.69597985e-03 -6.71878364e-03 1.83421981e+01] [-5.75245386e-03 9.99948037e-01 -8.41622944e-03 -8.48239552e-02] [ 6.67049584e-03 8.45455244e-03 9.99942011e-01 -2.67585194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23719347 meters Centerline goodness : 0.894678 Centerline is valid? [False, False] Translation: X:18.34, Y:-0.09, Z:-2.68 [[ 9.99956791e-01 5.92637009e-03 -7.16203920e-03 1.83432666e+01] [-5.98159469e-03 9.99952356e-01 -7.71407408e-03 -8.75208714e-02] [ 7.11598151e-03 7.75658117e-03 9.99944598e-01 -2.67611455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26719347 meters Centerline goodness : 0.893402 Centerline is valid? [False, False] Translation: X:18.36, Y:-0.09, Z:-2.68 [[ 9.99965986e-01 7.93436252e-03 -2.25219227e-03 1.83568196e+01] [-7.96621985e-03 9.99863030e-01 -1.45072593e-02 -8.85437899e-02] [ 2.13677793e-03 1.45247074e-02 9.99892228e-01 -2.68085884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29719347 meters Centerline goodness : 0.886204 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.09, Z:-2.68 [[ 9.99971104e-01 7.56466326e-03 -7.52575983e-04 1.83762057e+01] [-7.57712771e-03 9.99805098e-01 -1.82305509e-02 -8.86055791e-02] [ 6.14521326e-04 1.82357265e-02 9.99833526e-01 -2.68209067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32719347 meters Centerline goodness : 0.890551 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.09, Z:-2.68 [[ 9.99967869e-01 7.93156439e-03 -1.16207155e-03 1.83773912e+01] [-7.95061876e-03 9.99816480e-01 -1.74296619e-02 -9.02518028e-02] [ 1.02361380e-03 1.74383410e-02 9.99847417e-01 -2.68264915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35719347 meters Centerline goodness : 0.886501 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.10, Z:-2.68 [[ 9.99972351e-01 7.15966839e-03 -2.00904994e-03 1.83803459e+01] [-7.19285992e-03 9.99829088e-01 -1.70311015e-02 -9.52346119e-02] [ 1.88676953e-03 1.70450814e-02 9.99852942e-01 -2.68441374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38719347 meters Centerline goodness : 0.896372 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.10, Z:-2.69 [[ 9.99980782e-01 5.48886577e-03 -2.88232687e-03 1.83834774e+01] [-5.54045630e-03 9.99818890e-01 -1.82068688e-02 -9.74530309e-02] [ 2.78186979e-03 1.82224883e-02 9.99830087e-01 -2.68630032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41719347 meters Centerline goodness : 0.890887 Centerline is valid? [False, False] Translation: X:18.39, Y:-0.10, Z:-2.69 [[ 9.99982635e-01 4.53572060e-03 -3.76265282e-03 1.83860367e+01] [-4.60399984e-03 9.99821192e-01 -1.83408665e-02 -9.96041400e-02] [ 3.67879098e-03 1.83578713e-02 9.99824712e-01 -2.68742856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44719347 meters Centerline goodness : 0.892766 Centerline is valid? [False, False] Translation: X:18.39, Y:-0.10, Z:-2.69 [[ 9.99983721e-01 3.51746657e-03 -4.49287240e-03 1.83884965e+01] [-3.60150635e-03 9.99816099e-01 -1.88360617e-02 -1.00646821e-01] [ 4.42579094e-03 1.88519362e-02 9.99812491e-01 -2.68869780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47719347 meters Centerline goodness : 0.891307 Centerline is valid? [False, False] Translation: X:18.41, Y:-0.10, Z:-2.69 [[ 9.99988193e-01 4.10107499e-03 -2.60689287e-03 1.84065976e+01] [-4.13286605e-03 9.99915702e-01 -1.23088982e-02 -1.04851123e-01] [ 2.55619340e-03 1.23195268e-02 9.99920844e-01 -2.69385466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50719347 meters Centerline goodness : 0.890393 Centerline is valid? [False, False] Translation: X:18.41, Y:-0.11, Z:-2.69 [[ 9.99985306e-01 4.43428450e-03 -3.11855839e-03 1.84076291e+01] [-4.47133585e-03 9.99918287e-01 -1.19760412e-02 -1.05795083e-01] [ 3.06519840e-03 1.19898093e-02 9.99923422e-01 -2.69390170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53719347 meters Centerline goodness : 0.891382 Centerline is valid? [False, False] Translation: X:18.43, Y:-0.11, Z:-2.70 [[ 9.99988844e-01 4.70323329e-03 -4.38172718e-04 1.84266964e+01] [-4.70936236e-03 9.99872892e-01 -1.52322346e-02 -1.05734992e-01] [ 3.66476270e-04 1.52341281e-02 9.99883887e-01 -2.69500059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56719347 meters Centerline goodness : 0.894206 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.10, Z:-2.70 [[ 9.99974160e-01 5.23536114e-03 4.92643474e-03 1.84386871e+01] [-5.11503036e-03 9.99695766e-01 -2.41290481e-02 -1.04182658e-01] [-5.05126023e-03 2.41032258e-02 9.99696714e-01 -2.69842121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59719347 meters Centerline goodness : 0.893893 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.11, Z:-2.70 [[ 9.99916734e-01 4.12396543e-03 1.22277904e-02 1.84491034e+01] [-3.90456856e-03 9.99831936e-01 -1.79123863e-02 -1.08493737e-01] [-1.22996054e-02 1.78631505e-02 9.99764786e-01 -2.70137967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62719347 meters Centerline goodness : 0.893966 Centerline is valid? [False, False] Translation: X:18.47, Y:-0.11, Z:-2.70 [[ 9.99868302e-01 3.66521680e-03 1.58096746e-02 1.84668904e+01] [-3.33720450e-03 9.99779659e-01 -2.07242853e-02 -1.09441555e-01] [-1.58821501e-02 2.06687959e-02 9.99660221e-01 -2.70206575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65719347 meters Centerline goodness : 0.896023 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.11, Z:-2.70 [[ 9.99814453e-01 3.48739520e-03 1.89446037e-02 1.84850082e+01] [-3.05868534e-03 9.99739644e-01 -2.26116861e-02 -1.11548829e-01] [-1.90185273e-02 2.25495450e-02 9.99564812e-01 -2.70230676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68719347 meters Centerline goodness : 0.895559 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.12, Z:-2.70 [[ 9.99841082e-01 4.15367676e-03 1.73366261e-02 1.85094499e+01] [-3.91620902e-03 9.99898358e-01 -1.37090060e-02 -1.21109681e-01] [-1.73918067e-02 1.36389336e-02 9.99755722e-01 -2.69868665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71719346999998 meters Centerline goodness : 0.897533 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.12, Z:-2.70 [[ 9.99855961e-01 3.22755226e-03 1.66625569e-02 1.85118894e+01] [-2.99408164e-03 9.99897265e-01 -1.40176747e-02 -1.23441212e-01] [-1.67060879e-02 1.39657666e-02 9.99762904e-01 -2.70013827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74719346999998 meters Centerline goodness : 0.894315 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.13, Z:-2.70 [[ 9.99866939e-01 2.88424011e-03 1.60556736e-02 1.85137291e+01] [-2.66710734e-03 9.99904925e-01 -1.35287647e-02 -1.26158617e-01] [-1.60931673e-02 1.34841423e-02 9.99779570e-01 -2.70102406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77719347 meters Centerline goodness : 0.895977 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.13, Z:-2.70 [[ 9.99880784e-01 1.06988712e-03 1.54036938e-02 1.85158624e+01] [-8.52037667e-04 9.99899630e-01 -1.41422995e-02 -1.32868637e-01] [-1.54172784e-02 1.41274889e-02 9.99781337e-01 -2.70228805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80719347 meters Centerline goodness : 0.895969 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.14, Z:-2.70 [[ 9.99892403e-01 3.55990764e-04 1.46647442e-02 1.85185261e+01] [-1.49511360e-04 9.99900879e-01 -1.40786776e-02 -1.36118468e-01] [-1.46683025e-02 1.40749702e-02 9.99793347e-01 -2.70394523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83719347 meters Centerline goodness : 0.896781 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.14, Z:-2.71 [[ 9.99918896e-01 2.08679506e-03 1.25636738e-02 1.85407273e+01] [-1.93483771e-03 9.99924981e-01 -1.20950068e-02 -1.41027843e-01] [-1.25879711e-02 1.20697172e-02 9.99847921e-01 -2.70513144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86719347 meters Centerline goodness : 0.895731 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.14, Z:-2.71 [[ 9.99927579e-01 2.23888523e-03 1.18247375e-02 1.85422823e+01] [-2.10785499e-03 9.99936372e-01 -1.10818902e-02 -1.44068272e-01] [-1.18487962e-02 1.10561628e-02 9.99868675e-01 -2.70537630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89719347 meters Centerline goodness : 0.895731 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.14, Z:-2.71 [[ 9.99927579e-01 2.23888523e-03 1.18247375e-02 1.85422823e+01] [-2.10785499e-03 9.99936372e-01 -1.10818902e-02 -1.44068272e-01] [-1.18487962e-02 1.10561628e-02 9.99868675e-01 -2.70537630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92719347 meters Centerline goodness : 0.893838 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.15, Z:-2.71 [[ 9.99938865e-01 3.55272786e-03 1.04710818e-02 1.85466020e+01] [-3.46035455e-03 9.99955057e-01 -8.82670887e-03 -1.49145806e-01] [-1.05019701e-02 8.78993560e-03 9.99906218e-01 -2.70790467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95719347 meters Centerline goodness : 0.896063 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.15, Z:-2.71 [[ 9.99946659e-01 4.04953463e-03 9.50159422e-03 1.85505505e+01] [-3.97549581e-03 9.99961691e-01 -7.79824237e-03 -1.51595585e-01] [-9.53280947e-03 7.76005286e-03 9.99924451e-01 -2.71055408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98719347 meters Centerline goodness : 0.892056 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.15, Z:-2.71 [[ 9.99966744e-01 4.35151209e-03 6.89747848e-03 1.85722747e+01] [-4.28581853e-03 9.99945588e-01 -9.51062344e-03 -1.54485105e-01] [-6.93848877e-03 9.48074581e-03 9.99930984e-01 -2.71130463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01719347 meters Centerline goodness : 0.894200 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.16, Z:-2.71 [[ 9.99975162e-01 3.10413455e-03 6.32765231e-03 1.85742447e+01] [-3.03836664e-03 9.99941542e-01 -1.03769786e-02 -1.57029788e-01] [-6.35949394e-03 1.03574952e-02 9.99926137e-01 -2.71234835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04719347 meters Centerline goodness : 0.895163 Centerline is valid? [False, False] Translation: X:18.58, Y:-0.16, Z:-2.71 [[ 9.99983945e-01 1.21357600e-03 5.53501673e-03 1.85763137e+01] [-1.14672405e-03 9.99926555e-01 -1.20652254e-02 -1.59388481e-01] [-5.54925228e-03 1.20586846e-02 9.99911893e-01 -2.71304628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07719347 meters Centerline goodness : 0.893688 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.16, Z:-2.71 [[ 9.99979286e-01 1.25948054e-03 6.31196051e-03 1.85964192e+01] [-1.17104266e-03 9.99901375e-01 -1.39953209e-02 -1.61866256e-01] [-6.32896482e-03 1.39876395e-02 9.99882138e-01 -2.71367114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10719347 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.16, Z:-2.71 [[ 9.99978721e-01 -2.41254690e-03 6.06106652e-03 1.85972622e+01] [ 2.51523947e-03 9.99852447e-01 -1.69928884e-02 -1.64582964e-01] [-6.01917605e-03 1.70077718e-02 9.99837239e-01 -2.71409113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13719347 meters Centerline goodness : 0.896669 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.72 [[ 9.99979838e-01 -3.77868351e-03 5.10335977e-03 1.86000126e+01] [ 3.86660974e-03 9.99842338e-01 -1.73305487e-02 -1.66914354e-01] [-5.03706851e-03 1.73499320e-02 9.99836791e-01 -2.71509035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16719347 meters Centerline goodness : 0.894708 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99980586e-01 -4.17421801e-03 4.62630168e-03 1.86008938e+01] [ 4.25020198e-03 9.99854204e-01 -1.65380572e-02 -1.69959212e-01] [-4.55659373e-03 1.65573989e-02 9.99852534e-01 -2.71473144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19719347 meters Centerline goodness : 0.895653 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99980008e-01 -4.83303452e-03 4.07749379e-03 1.86019514e+01] [ 4.89915564e-03 9.99854081e-01 -1.63650561e-02 -1.71566490e-01] [-3.99780592e-03 1.63847052e-02 9.99857769e-01 -2.71440933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22719347 meters Centerline goodness : 0.896434 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.72 [[ 9.99977199e-01 -5.79870860e-03 3.46084182e-03 1.86037586e+01] [ 5.85613838e-03 9.99841361e-01 -1.68213855e-02 -1.70763558e-01] [-3.36275048e-03 1.68412691e-02 9.99852521e-01 -2.71508092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25719347 meters Centerline goodness : 0.895434 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.72 [[ 9.99988038e-01 -4.09872743e-03 2.66915724e-03 1.86067895e+01] [ 4.13732043e-03 9.99884598e-01 -1.46175410e-02 -1.71164131e-01] [-2.60893590e-03 1.46284093e-02 9.99889595e-01 -2.71672583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28719347 meters Centerline goodness : 0.897455 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99990392e-01 -3.27223735e-03 2.91707783e-03 1.86048175e+01] [ 3.31218561e-03 9.99899336e-01 -1.37966279e-02 -1.72431473e-01] [-2.87163834e-03 1.38061572e-02 9.99900567e-01 -2.71425578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31719347 meters Centerline goodness : 0.893281 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.17, Z:-2.71 [[ 9.99989066e-01 -3.80484151e-03 2.71858390e-03 1.86048796e+01] [ 3.84318165e-03 9.99891224e-01 -1.42397636e-02 -1.72693383e-01] [-2.66410814e-03 1.42500559e-02 9.99894914e-01 -2.71353084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34719347 meters Centerline goodness : 0.898255 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.71 [[ 9.99988930e-01 -4.03437861e-03 2.42143874e-03 1.86053635e+01] [ 4.06872450e-03 9.99888743e-01 -1.43508480e-02 -1.72270235e-01] [-2.36327258e-03 1.43605413e-02 9.99894089e-01 -2.71322762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37719347 meters Centerline goodness : 0.899625 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.71 [[ 9.99987914e-01 -4.43561175e-03 2.12078339e-03 1.86061695e+01] [ 4.46634071e-03 9.99881810e-01 -1.47111795e-02 -1.70929131e-01] [-2.05527965e-03 1.47204739e-02 9.99889536e-01 -2.71334788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40719347 meters Centerline goodness : 0.898979 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.71 [[ 9.99996206e-01 -2.45345630e-03 1.25202754e-03 1.86088005e+01] [ 2.46808909e-03 9.99927063e-01 -1.18227260e-02 -1.71032085e-01] [-1.22292968e-03 1.18257712e-02 9.99929325e-01 -2.71428376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43719347 meters Centerline goodness : 0.899228 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.72 [[ 9.99994309e-01 -3.29909676e-03 7.05487508e-04 1.86107296e+01] [ 3.30778135e-03 9.99914068e-01 -1.26852215e-02 -1.69218258e-01] [-6.63577111e-04 1.26874829e-02 9.99919290e-01 -2.71542612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46719346999998 meters Centerline goodness : 0.900924 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.17, Z:-2.72 [[ 9.99993452e-01 -3.61462241e-03 1.74150066e-04 1.86126491e+01] [ 3.61660004e-03 9.99906989e-01 -1.31504403e-02 -1.68383529e-01] [-1.26599992e-04 1.31509840e-02 9.99913514e-01 -2.71660449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49719346999998 meters Centerline goodness : 0.899466 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.17, Z:-2.72 [[ 9.99997764e-01 -1.42360362e-03 -1.56376175e-03 1.86356159e+01] [ 1.40208162e-03 9.99905456e-01 -1.36789031e-02 -1.68439267e-01] [ 1.58308725e-03 1.36766800e-02 9.99905217e-01 -2.71881279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52719347 meters Centerline goodness : 0.897432 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.17, Z:-2.72 [[ 9.99996998e-01 -1.35869858e-03 -2.03891853e-03 1.86370466e+01] [ 1.32980571e-03 9.99899625e-01 -1.41057525e-02 -1.66790622e-01] [ 2.05787934e-03 1.41029988e-02 9.99898430e-01 -2.71947326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55719347 meters Centerline goodness : 0.900736 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.16, Z:-2.72 [[ 9.99993841e-01 2.61793161e-03 -2.33779632e-03 1.86381854e+01] [-2.64294369e-03 9.99938608e-01 -1.07607835e-02 -1.64613321e-01] [ 2.30948181e-03 1.07668959e-02 9.99939368e-01 -2.72018217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58719347 meters Centerline goodness : 0.900275 Centerline is valid? [False, False] Translation: X:18.66, Y:-0.16, Z:-2.72 [[ 9.99990918e-01 4.09641521e-03 -1.17595238e-03 1.86588961e+01] [-4.11277482e-03 9.99889807e-01 -1.42638900e-02 -1.61463122e-01] [ 1.11739198e-03 1.42685969e-02 9.99897574e-01 -2.72316320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61719347 meters Centerline goodness : 0.901707 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.16, Z:-2.73 [[ 9.99975058e-01 6.82412735e-03 -1.82072255e-03 1.86810885e+01] [-6.85218290e-03 9.99850497e-01 -1.58754932e-02 -1.56725360e-01] [ 1.71211396e-03 1.58875731e-02 9.99872319e-01 -2.72558951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64719347 meters Centerline goodness : 0.898559 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.16, Z:-2.73 [[ 9.99965134e-01 7.88346195e-03 -2.75353609e-03 1.86845765e+01] [-7.92309709e-03 9.99860662e-01 -1.46928708e-02 -1.55917502e-01] [ 2.63732173e-03 1.47141750e-02 9.99888263e-01 -2.72755751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67719347 meters Centerline goodness : 0.898992 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99966564e-01 7.51147259e-03 -3.23258040e-03 1.86859422e+01] [-7.55972464e-03 9.99856156e-01 -1.51828434e-02 -1.54203185e-01] [ 3.11806990e-03 1.52067731e-02 9.99879509e-01 -2.72807355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70719347 meters Centerline goodness : 0.896966 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99971209e-01 6.53350699e-03 -3.85940490e-03 1.86879419e+01] [-6.59521893e-03 9.99847023e-01 -1.61997850e-02 -1.52688562e-01] [ 3.75297310e-03 1.62247722e-02 9.99861326e-01 -2.72904119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73719347 meters Centerline goodness : 0.899918 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99976321e-01 4.96872887e-03 -4.76126162e-03 1.86907847e+01] [-5.05111512e-03 9.99834969e-01 -1.74505514e-02 -1.51834453e-01] [ 4.67376880e-03 1.74741878e-02 9.99836391e-01 -2.73035851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76719347 meters Centerline goodness : 0.899689 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.15, Z:-2.73 [[ 9.99987666e-01 5.35756345e-04 -4.93773633e-03 1.86912082e+01] [-6.43576558e-04 9.99760828e-01 -2.18603032e-02 -1.50878497e-01] [ 4.92484357e-03 2.18632113e-02 9.99748841e-01 -2.73037269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79719347 meters Centerline goodness : 0.901557 Centerline is valid? [False, False] Translation: X:18.70, Y:-0.15, Z:-2.73 [[ 9.99998165e-01 -1.90642917e-03 -1.90402756e-04 1.87007336e+01] [ 1.90359117e-03 9.99901112e-01 -1.39335033e-02 -1.52573694e-01] [ 2.16947165e-04 1.39331153e-02 9.99902906e-01 -2.73208234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82719347 meters Centerline goodness : 0.900356 Centerline is valid? [False, False] Translation: X:18.70, Y:-0.15, Z:-2.73 [[ 9.99995140e-01 -3.04086006e-03 -6.87838953e-04 1.87018764e+01] [ 3.03047824e-03 9.99888502e-01 -1.46218835e-02 -1.51865686e-01] [ 7.32225362e-04 1.46197280e-02 9.99892858e-01 -2.73209524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85719347 meters Centerline goodness : 0.902334 Centerline is valid? [False, False] Translation: X:18.70, Y:-0.15, Z:-2.73 [[ 9.99992422e-01 -3.75797126e-03 -1.01646716e-03 1.87024816e+01] [ 3.74235545e-03 9.99881216e-01 -1.49515699e-02 -1.51219642e-01] [ 1.07253399e-03 1.49476526e-02 9.99887702e-01 -2.73181164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88719347 meters Centerline goodness : 0.906001 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99975651e-01 -6.34012963e-03 2.91563916e-03 1.87196271e+01] [ 6.39370059e-03 9.99803819e-01 -1.87468630e-02 -1.48624032e-01] [-2.79620962e-03 1.87650482e-02 9.99820011e-01 -2.73139803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91719347 meters Centerline goodness : 0.908790 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99973750e-01 -6.73522292e-03 2.67123891e-03 1.87197103e+01] [ 6.78463624e-03 9.99797564e-01 -1.89420277e-02 -1.47978241e-01] [-2.54311937e-03 1.89596539e-02 9.99817015e-01 -2.73067740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94719347 meters Centerline goodness : 0.906062 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99970821e-01 -7.29963778e-03 2.25208995e-03 1.87205346e+01] [ 7.34216127e-03 9.99783099e-01 -1.94896978e-02 -1.46833274e-01] [-2.10933373e-03 1.95056644e-02 9.99807521e-01 -2.73052426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97719347 meters Centerline goodness : 0.907674 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.15, Z:-2.73 [[ 9.99967517e-01 -7.84414135e-03 1.85314214e-03 1.87217983e+01] [ 7.87992929e-03 9.99765589e-01 -2.01661440e-02 -1.45340492e-01] [-1.69452166e-03 2.01800916e-02 9.99794925e-01 -2.73108998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00719347 meters Centerline goodness : 0.906965 Centerline is valid? [False, False] Translation: X:18.74, Y:-0.14, Z:-2.73 [[ 9.99979004e-01 -6.47633123e-03 -2.18523748e-04 1.87443977e+01] [ 6.47048514e-03 9.99768587e-01 -2.05159717e-02 -1.44338927e-01] [ 3.51341406e-04 2.05141270e-02 9.99789501e-01 -2.73238541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03719347 meters Centerline goodness : 0.906215 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.14, Z:-2.74 [[ 9.99992868e-01 -3.72953783e-03 -5.95110756e-04 1.87665315e+01] [ 3.71577659e-03 9.99758588e-01 -2.16554524e-02 -1.38196261e-01] [ 6.75731918e-04 2.16530867e-02 9.99765316e-01 -2.73502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06719347 meters Centerline goodness : 0.907360 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.14, Z:-2.74 [[ 9.99998543e-01 -1.12430296e-03 -1.28432913e-03 1.87685221e+01] [ 1.09938535e-03 9.99814291e-01 -1.92399399e-02 -1.35303458e-01] [ 1.30572214e-03 1.92384999e-02 9.99814070e-01 -2.73570899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09719347 meters Centerline goodness : 0.905170 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.13, Z:-2.74 [[ 9.99997750e-01 1.63564600e-03 -1.35088567e-03 1.87899385e+01] [-1.66158422e-03 9.99809871e-01 -1.94283374e-02 -1.32642925e-01] [ 1.31885095e-03 1.94305383e-02 9.99810339e-01 -2.73703414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12719347 meters Centerline goodness : 0.897825 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.13, Z:-2.74 [[ 9.99987476e-01 4.71829872e-03 -1.66879994e-03 1.87905402e+01] [-4.74693423e-03 9.99833960e-01 -1.75931701e-02 -1.26588663e-01] [ 1.58551302e-03 1.76008715e-02 9.99843836e-01 -2.73664662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15719347 meters Centerline goodness : 0.904778 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.12, Z:-2.74 [[ 9.99971211e-01 7.24279017e-03 -2.26259540e-03 1.87926416e+01] [-7.27640173e-03 9.99857720e-01 -1.52181764e-02 -1.24370330e-01] [ 2.15205142e-03 1.52342018e-02 9.99881637e-01 -2.73763991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18719347 meters Centerline goodness : 0.903675 Centerline is valid? [False, False] Translation: X:18.80, Y:-0.12, Z:-2.74 [[ 9.99949834e-01 9.55661128e-03 -3.00024583e-03 1.87953762e+01] [-9.59534638e-03 9.99867189e-01 -1.31732429e-02 -1.21122480e-01] [ 2.87395580e-03 1.32013704e-02 9.99908728e-01 -2.73911795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21719346999998 meters Centerline goodness : 0.896996 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.11, Z:-2.74 [[ 9.99916144e-01 1.27669988e-02 -2.16976139e-03 1.88168889e+01] [-1.28011704e-02 9.99781229e-01 -1.65415625e-02 -1.11557335e-01] [ 1.95810060e-03 1.65679509e-02 9.99860825e-01 -2.74347257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24719346999998 meters Centerline goodness : 0.898509 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.11, Z:-2.74 [[ 9.99871848e-01 1.58115282e-02 -2.50670188e-03 1.88182521e+01] [-1.58443771e-02 9.99780934e-01 -1.36762410e-02 -1.09458311e-01] [ 2.28991047e-03 1.37142055e-02 9.99903334e-01 -2.74411380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27719347 meters Centerline goodness : 0.897105 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.11, Z:-2.74 [[ 9.99867607e-01 1.59942820e-02 -2.99175247e-03 1.88191691e+01] [-1.60370015e-02 9.99761173e-01 -1.48462305e-02 -1.06332314e-01] [ 2.75358317e-03 1.48922437e-02 9.99885313e-01 -2.74349299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30719347 meters Centerline goodness : 0.896933 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.10, Z:-2.74 [[ 9.99861515e-01 1.62594952e-02 -3.54686703e-03 1.88202173e+01] [-1.63140305e-02 9.99740002e-01 -1.59305300e-02 -1.03203290e-01] [ 3.28692247e-03 1.59861875e-02 9.99866810e-01 -2.74285823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33719347 meters Centerline goodness : 0.898585 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.10, Z:-2.74 [[ 9.99814509e-01 1.88437528e-02 -3.98247594e-03 1.88215586e+01] [-1.89012314e-02 9.99709953e-01 -1.49249465e-02 -9.70433206e-02] [ 3.70007883e-03 1.49974518e-02 9.99880686e-01 -2.74259053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36719347 meters Centerline goodness : 0.895677 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.09, Z:-2.74 [[ 9.99819947e-01 1.84469498e-02 -4.44789392e-03 1.88227728e+01] [-1.85166550e-02 9.99697694e-01 -1.61757143e-02 -9.36231727e-02] [ 4.14815671e-03 1.62551619e-02 9.99859271e-01 -2.74266748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39719347 meters Centerline goodness : 0.896477 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.09, Z:-2.74 [[ 9.99824974e-01 1.80862230e-02 -4.78644231e-03 1.88234520e+01] [-1.81649579e-02 9.99691287e-01 -1.69518270e-02 -9.18226553e-02] [ 4.47837015e-03 1.70358055e-02 9.99844851e-01 -2.74251699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42719347 meters Centerline goodness : 0.895633 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.09, Z:-2.74 [[ 9.99834070e-01 1.74535886e-02 -5.21574628e-03 1.88241642e+01] [-1.75437586e-02 9.99688109e-01 -1.77736037e-02 -9.07553109e-02] [ 4.90390637e-03 1.78621583e-02 9.99828433e-01 -2.74217398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45719347 meters Centerline goodness : 0.899506 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.09, Z:-2.74 [[ 9.99886474e-01 1.49508466e-02 -1.87375001e-03 1.88286618e+01] [-1.49663309e-02 9.99851512e-01 -8.54177777e-03 -8.99821672e-02] [ 1.74576497e-03 8.56885122e-03 9.99961763e-01 -2.74003019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48719347 meters Centerline goodness : 0.899506 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.09, Z:-2.74 [[ 9.99886474e-01 1.49508466e-02 -1.87375001e-03 1.88286618e+01] [-1.49663309e-02 9.99851512e-01 -8.54177777e-03 -8.99821672e-02] [ 1.74576497e-03 8.56885122e-03 9.99961763e-01 -2.74003019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51719347 meters Centerline goodness : 0.901790 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.08, Z:-2.74 [[ 9.99885552e-01 1.50375691e-02 -1.65959440e-03 1.88270738e+01] [-1.50546699e-02 9.99828088e-01 -1.08236668e-02 -8.22765071e-02] [ 1.49654746e-03 1.08474127e-02 9.99940045e-01 -2.73740916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54719347 meters Centerline goodness : 0.901660 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.08, Z:-2.74 [[ 9.99835510e-01 1.80473444e-02 -1.80148331e-03 1.88274329e+01] [-1.80616680e-02 9.99802594e-01 -8.27945916e-03 -7.96574882e-02] [ 1.65170544e-03 8.31063507e-03 9.99964102e-01 -2.73699819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57719347 meters Centerline goodness : 0.903122 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.08, Z:-2.74 [[ 9.99833858e-01 1.80827885e-02 -2.29561845e-03 1.88281749e+01] [-1.81041243e-02 9.99789623e-01 -9.64103669e-03 -7.54054114e-02] [ 2.12079868e-03 9.68099507e-03 9.99950889e-01 -2.73623559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60719347 meters Centerline goodness : 0.906699 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99838344e-01 1.78025902e-02 -2.52049401e-03 1.88282659e+01] [-1.78294466e-02 9.99779792e-01 -1.10670336e-02 -7.18835161e-02] [ 2.32291711e-03 1.11101836e-02 9.99935582e-01 -2.73532451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63719347 meters Centerline goodness : 0.900595 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99814101e-01 1.91609377e-02 -2.14991546e-03 1.88278031e+01] [-1.91809710e-02 9.99768775e-01 -9.72040791e-03 -6.89540416e-02] [ 1.96316622e-03 9.75983836e-03 9.99950445e-01 -2.73526878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66719347 meters Centerline goodness : 0.901660 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99833226e-01 1.80872955e-02 -2.52372744e-03 1.88288864e+01] [-1.81134031e-02 9.99778287e-01 -1.07368861e-02 -6.77917920e-02] [ 2.32896666e-03 1.07808088e-02 9.99939173e-01 -2.73574013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69719347 meters Centerline goodness : 0.904895 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99934869e-01 1.03403816e-02 -4.83054282e-03 1.88286169e+01] [-1.03575429e-02 9.99940089e-01 -3.54126461e-03 -6.72509462e-02] [ 4.79363539e-03 3.59106652e-03 9.99982062e-01 -2.73538314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72719347 meters Centerline goodness : 0.903833 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.07, Z:-2.74 [[ 9.99973126e-01 5.26207333e-03 -5.10473087e-03 1.88298548e+01] [-5.30569699e-03 9.99949200e-01 -8.57016589e-03 -6.56533901e-02] [ 5.05937471e-03 8.59701972e-03 9.99950246e-01 -2.73655713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75719347 meters Centerline goodness : 0.910275 Centerline is valid? [False, False] Translation: X:18.81, Y:-0.07, Z:-2.74 [[ 9.99981771e-01 5.14512294e-04 -6.01612424e-03 1.88112515e+01] [-4.92942028e-04 9.99993448e-01 3.58634232e-03 -6.50176036e-02] [ 6.01793003e-03 -3.58331134e-03 9.99975472e-01 -2.73636049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78719347 meters Centerline goodness : 0.909687 Centerline is valid? [False, False] Translation: X:18.81, Y:-0.06, Z:-2.74 [[ 9.99978676e-01 -1.37515815e-04 -6.52902517e-03 1.88130122e+01] [ 1.52890526e-04 9.99997217e-01 2.35438425e-03 -6.24041067e-02] [ 6.52868323e-03 -2.35533227e-03 9.99975914e-01 -2.73723759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81719347 meters Centerline goodness : 0.908966 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99990311e-01 2.89513227e-03 -3.31592939e-03 1.88261207e+01] [-2.91270658e-03 9.99981673e-01 -5.30745448e-03 -5.43538360e-02] [ 3.30050284e-03 5.31706138e-03 9.99980418e-01 -2.74093655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84719347 meters Centerline goodness : 0.908966 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99990311e-01 2.89513227e-03 -3.31592939e-03 1.88261207e+01] [-2.91270658e-03 9.99981673e-01 -5.30745448e-03 -5.43538360e-02] [ 3.30050284e-03 5.31706138e-03 9.99980418e-01 -2.74093655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87719347 meters Centerline goodness : 0.904536 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99972835e-01 6.37588687e-03 -3.69819059e-03 1.88271474e+01] [-6.38357741e-03 9.99977479e-01 -2.07147729e-03 -5.20264762e-02] [ 3.68489980e-03 2.09502870e-03 9.99991016e-01 -2.74126333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90719347 meters Centerline goodness : 0.904253 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99944595e-01 9.74419576e-03 -3.98209037e-03 1.88277895e+01] [-9.74066879e-03 9.99952150e-01 9.04147435e-04 -4.93049621e-02] [ 3.99071002e-03 -8.65309118e-04 9.99991663e-01 -2.74123693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93719347 meters Centerline goodness : 0.903396 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.05, Z:-2.74 [[ 9.99904857e-01 1.31749309e-02 -4.08627503e-03 1.88280455e+01] [-1.31593712e-02 9.99906147e-01 3.81160260e-03 -4.62405498e-02] [ 4.13610912e-03 -3.75746714e-03 9.99984387e-01 -2.74103910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96719346999998 meters Centerline goodness : 0.904706 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.04, Z:-2.74 [[ 9.99849923e-01 1.67889959e-02 -4.27339461e-03 1.88285378e+01] [-1.67595130e-02 9.99836126e-01 6.84394745e-03 -4.32687466e-02] [ 4.38759732e-03 -6.77130032e-03 9.99967449e-01 -2.74096023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99719346999998 meters Centerline goodness : 0.901482 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.04, Z:-2.74 [[ 9.99682574e-01 2.48250673e-02 -4.29728370e-03 1.88287191e+01] [-2.47672688e-02 9.99608484e-01 1.30177282e-02 -3.72729851e-02] [ 4.61876722e-03 -1.29071641e-02 9.99906032e-01 -2.74065732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02719347 meters Centerline goodness : 0.902762 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.03, Z:-2.74 [[ 9.99578984e-01 2.86933250e-02 -4.30669163e-03 1.88288307e+01] [-2.86216145e-02 9.99464185e-01 1.58790871e-02 -3.35837529e-02] [ 4.76000785e-03 -1.57491373e-02 9.99864644e-01 -2.74035175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05719347 meters Centerline goodness : 0.902397 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.03, Z:-2.74 [[ 9.99461281e-01 3.25551671e-02 -4.16041570e-03 1.88284276e+01] [-3.24720275e-02 9.99297812e-01 1.86935762e-02 -2.96089376e-02] [ 4.76606680e-03 -1.85484084e-02 9.99816604e-01 -2.73969474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08719347 meters Centerline goodness : 0.906032 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.02, Z:-2.74 [[ 9.99294895e-01 3.73356687e-02 -3.96999128e-03 1.88278607e+01] [-3.72417333e-02 9.99073604e-01 2.15635396e-02 -2.41440955e-02] [ 4.77140267e-03 -2.14004857e-02 9.99759598e-01 -2.73874229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11719347 meters Centerline goodness : 0.903963 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.02, Z:-2.74 [[ 9.99281305e-01 3.76502284e-02 -4.39705060e-03 1.88285245e+01] [-3.75505460e-02 9.99076194e-01 2.08977114e-02 -2.19321715e-02] [ 5.17979219e-03 -2.07175806e-02 9.99771950e-01 -2.73857286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14719347 meters Centerline goodness : 0.905676 Centerline is valid? [False, False] Translation: X:18.85, Y:-0.02, Z:-2.74 [[ 9.99333363e-01 3.64709373e-02 -1.64335089e-03 1.88464038e+01] [-3.64376419e-02 9.99190149e-01 1.70688418e-02 -1.95883288e-02] [ 2.26453668e-03 -1.69975833e-02 9.99852966e-01 -2.73837174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17719347 meters Centerline goodness : 0.906545 Centerline is valid? [False, False] Translation: X:18.85, Y:-0.02, Z:-2.74 [[ 9.99330504e-01 3.65356775e-02 -1.92054395e-03 1.88466634e+01] [-3.64984972e-02 9.99193493e-01 1.67398632e-02 -1.88722466e-02] [ 2.53059726e-03 -1.66585589e-02 9.99858034e-01 -2.73800794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20719347 meters Centerline goodness : 0.911171 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.02, Z:-2.74 [[ 9.99401356e-01 3.43258703e-02 4.32020985e-03 1.88551722e+01] [-3.44188723e-02 9.99126485e-01 2.36982870e-02 -2.17854371e-02] [-3.50297175e-03 -2.38327969e-02 9.99709821e-01 -2.73981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23719347 meters Centerline goodness : 0.909721 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.02, Z:-2.74 [[ 9.99472060e-01 3.22843858e-02 3.64959529e-03 1.88572067e+01] [-3.23552974e-02 9.99247094e-01 2.14097957e-02 -2.29436346e-02] [-2.95564539e-03 -2.15165764e-02 9.99764123e-01 -2.74092435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26719347 meters Centerline goodness : 0.907923 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.03, Z:-2.74 [[ 9.99471619e-01 3.23195611e-02 3.45387498e-03 1.88577971e+01] [-3.23877299e-02 9.99234407e-01 2.19461678e-02 -2.50884099e-02] [-2.74194021e-03 -2.20464351e-02 9.99753188e-01 -2.74089937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29719347 meters Centerline goodness : 0.908120 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.03, Z:-2.74 [[ 9.99463473e-01 3.25992926e-02 3.17045225e-03 1.88587034e+01] [-3.26631017e-02 9.99207534e-01 2.27469789e-02 -2.73165700e-02] [-2.42640435e-03 -2.28383313e-02 9.99736227e-01 -2.74101934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32719347 meters Centerline goodness : 0.910721 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.04, Z:-2.74 [[ 9.99469121e-01 3.23671920e-02 3.72025454e-03 1.88688655e+01] [-3.24798430e-02 9.98830194e-01 3.58232143e-02 -3.51859000e-02] [-2.55640571e-03 -3.59250298e-02 9.99351218e-01 -2.73971713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35719347 meters Centerline goodness : 0.909751 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.04, Z:-2.74 [[ 9.99567161e-01 2.92534529e-02 3.11854998e-03 1.88704617e+01] [-2.93391763e-02 9.99045140e-01 3.23731434e-02 -3.59450599e-02] [-2.16854598e-03 -3.24506268e-02 9.99470987e-01 -2.74069532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38719347 meters Centerline goodness : 0.910388 Centerline is valid? [False, False] Translation: X:18.87, Y:-0.04, Z:-2.74 [[ 9.99583506e-01 2.87851075e-02 2.05709760e-03 1.88743767e+01] [-2.88367614e-02 9.99056486e-01 3.24742740e-02 -3.89753853e-02] [-1.12038123e-03 -3.25200687e-02 9.99470455e-01 -2.74300941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41719347 meters Centerline goodness : 0.909152 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.06, Z:-2.74 [[ 9.99651363e-01 2.62540133e-02 -2.80707982e-03 1.88884322e+01] [-2.60138285e-02 9.97511861e-01 6.55238028e-02 -5.56736182e-02] [ 4.52035821e-03 -6.54279359e-02 9.97847058e-01 -2.73872128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44719347 meters Centerline goodness : 0.909735 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.06, Z:-2.73 [[ 9.99666985e-01 2.51135896e-02 -5.93527225e-03 1.88966914e+01] [-2.45914009e-02 9.96813772e-01 7.58786383e-02 -6.09852857e-02] [ 7.82194609e-03 -7.57074129e-02 9.97099396e-01 -2.73229941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47719347 meters Centerline goodness : 0.907763 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.06, Z:-2.73 [[ 9.99724115e-01 2.24480154e-02 -6.91228337e-03 1.88999612e+01] [-2.18807590e-02 9.97062601e-01 7.33989274e-02 -6.25641134e-02] [ 8.53963949e-03 -7.32274318e-02 9.97278706e-01 -2.73403788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50719347 meters Centerline goodness : 0.907945 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.07, Z:-2.73 [[ 9.99812469e-01 1.62604505e-02 -1.05178527e-02 1.88934228e+01] [-1.56367340e-02 9.98258180e-01 5.68867131e-02 -6.64300516e-02] [ 1.14245360e-02 -5.67115802e-02 9.98325236e-01 -2.73456716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53719347 meters Centerline goodness : 0.906641 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.07, Z:-2.73 [[ 9.99903513e-01 8.73654566e-03 -1.07999109e-02 1.88937590e+01] [-8.18959334e-03 9.98731071e-01 4.96908221e-02 -6.82467277e-02] [ 1.12203328e-02 -4.95975807e-02 9.98706255e-01 -2.73452295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56719347 meters Centerline goodness : 0.906986 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.07, Z:-2.73 [[ 9.99936776e-01 8.34861497e-04 -1.12137330e-02 1.88944488e+01] [-3.60375446e-04 9.99107069e-01 4.22484969e-02 -6.98724709e-02] [ 1.12389915e-02 -4.22417846e-02 9.99044202e-01 -2.73445609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59719347 meters Centerline goodness : 0.908886 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.07, Z:-2.73 [[ 9.99947028e-01 -5.24719368e-03 -8.85482248e-03 1.89024018e+01] [ 5.46901736e-03 9.99667073e-01 2.52157404e-02 -6.97859009e-02] [ 8.71956259e-03 -2.52628318e-02 9.99642815e-01 -2.73390060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62719347 meters Centerline goodness : 0.911342 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.74 [[ 9.99932209e-01 -1.09609724e-02 -3.92871821e-03 1.89138880e+01] [ 1.10006643e-02 9.99887181e-01 1.02279362e-02 -6.95446120e-02] [ 3.81616685e-03 -1.02704613e-02 9.99939975e-01 -2.73722346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65719347 meters Centerline goodness : 0.909476 Centerline is valid? [False, False] Translation: X:18.92, Y:-0.07, Z:-2.74 [[ 9.99835325e-01 -1.75973492e-02 -4.43343776e-03 1.89154871e+01] [ 1.76147247e-02 9.99837199e-01 3.91111519e-03 -7.08204797e-02] [ 4.36389073e-03 -3.98856492e-03 9.99982524e-01 -2.73757449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68719347 meters Centerline goodness : 0.913097 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.73 [[ 9.99674107e-01 -2.52221018e-02 -3.94016279e-03 1.89130298e+01] [ 2.52111968e-02 9.99678245e-01 -2.79323247e-03 -7.36898825e-02] [ 4.00934621e-03 2.69298595e-03 9.99988336e-01 -2.73478778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71719346999998 meters Centerline goodness : 0.915036 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.73 [[ 9.99658719e-01 -2.57752792e-02 -4.25208725e-03 1.89138363e+01] [ 2.57630466e-02 9.99663851e-01 -2.90696746e-03 -7.41543089e-02] [ 4.32558581e-03 2.79642864e-03 9.99986735e-01 -2.73491237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74719346999998 meters Centerline goodness : 0.913418 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.07, Z:-2.74 [[ 9.99643035e-01 -2.63147863e-02 -4.61887691e-03 1.89149269e+01] [ 2.62989101e-02 9.99648119e-01 -3.46496465e-03 -7.29633596e-02] [ 4.70843142e-03 3.34225635e-03 9.99983330e-01 -2.73533996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77719347 meters Centerline goodness : 0.915910 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.07, Z:-2.74 [[ 9.99685427e-01 -2.50400242e-02 1.42965289e-03 1.89263058e+01] [ 2.50544934e-02 9.99623276e-01 -1.12061778e-02 -6.86001688e-02] [-1.14851134e-03 1.12384718e-02 9.99936187e-01 -2.73889468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80719347 meters Centerline goodness : 0.916588 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.07, Z:-2.74 [[ 9.99676914e-01 -2.53925049e-02 1.13531915e-03 1.89265295e+01] [ 2.54043936e-02 9.99604050e-01 -1.20979093e-02 -6.61943742e-02] [-8.27673403e-04 1.21228427e-02 9.99926173e-01 -2.73832211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83719347 meters Centerline goodness : 0.917869 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.06, Z:-2.74 [[ 9.99668932e-01 -2.57137770e-02 9.09867323e-04 1.89268563e+01] [ 2.57235570e-02 9.99581865e-01 -1.32058460e-02 -6.25957650e-02] [-5.69914695e-04 1.32248790e-02 9.99912385e-01 -2.73802641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86719347 meters Centerline goodness : 0.899878 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.06, Z:-2.74 [[ 9.99729280e-01 -2.32625664e-02 4.67792930e-04 1.89280062e+01] [ 2.32663193e-02 9.99668083e-01 -1.10635348e-02 -5.89019607e-02] [-2.10271448e-04 1.10714235e-02 9.99938688e-01 -2.73846475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89719347 meters Centerline goodness : 0.896108 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.05, Z:-2.74 [[ 9.99753316e-01 -2.20333254e-02 2.80005790e-03 1.89474393e+01] [ 2.20737968e-02 9.99638433e-01 -1.53542011e-02 -4.74686601e-02] [-2.46074138e-03 1.54122214e-02 9.99878197e-01 -2.74187211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92719347 meters Centerline goodness : 0.900094 Centerline is valid? [False, False] Translation: X:18.97, Y:-0.04, Z:-2.74 [[ 9.99764793e-01 -2.15204234e-02 2.68878076e-03 1.89685781e+01] [ 2.15606931e-02 9.99639940e-01 -1.59727130e-02 -4.42921796e-02] [-2.34407309e-03 1.60269281e-02 9.99868813e-01 -2.74319277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95719347 meters Centerline goodness : 0.896631 Centerline is valid? [False, False] Translation: X:18.97, Y:-0.04, Z:-2.74 [[ 9.99751702e-01 -2.21552846e-02 2.38265695e-03 1.89697837e+01] [ 2.21927065e-02 9.99608610e-01 -1.70326235e-02 -4.13781565e-02] [-2.00436179e-03 1.70812719e-02 9.99852095e-01 -2.74389523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98719347 meters Centerline goodness : 0.893073 Centerline is valid? [False, False] Translation: X:18.99, Y:-0.03, Z:-2.75 [[ 9.99701780e-01 -2.40263335e-02 4.36886588e-03 1.89891787e+01] [ 2.41141595e-02 9.99482181e-01 -2.13043716e-02 -3.46566667e-02] [-3.85473766e-03 2.14033697e-02 9.99763490e-01 -2.74517563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01719347 meters Centerline goodness : 0.899881 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.03, Z:-2.75 [[ 9.99670890e-01 -2.36021077e-02 1.00524561e-02 1.90026152e+01] [ 2.38731555e-02 9.99329621e-01 -2.77557333e-02 -3.00367431e-02] [-9.39062330e-03 2.79865825e-02 9.99564189e-01 -2.74911937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04719347 meters Centerline goodness : 0.899091 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.03, Z:-2.75 [[ 9.99730076e-01 -2.10865700e-02 9.75356736e-03 1.90035414e+01] [ 2.13222512e-02 9.99466847e-01 -2.47261489e-02 -2.86188790e-02] [-9.22697756e-03 2.49274427e-02 9.99646680e-01 -2.74967489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07719347 meters Centerline goodness : 0.897671 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.02, Z:-2.75 [[ 9.99758934e-01 -2.00473479e-02 8.95425759e-03 1.90064353e+01] [ 2.02578816e-02 9.99504877e-01 -2.40752655e-02 -2.10587043e-02] [-8.46717892e-03 2.42508561e-02 9.99670047e-01 -2.75143114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10719347 meters Centerline goodness : 0.896873 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.02, Z:-2.75 [[ 9.99813457e-01 -1.73080283e-02 8.57225839e-03 1.90076257e+01] [ 1.74867326e-02 9.99621676e-01 -2.12301440e-02 -1.86244410e-02] [-8.20156336e-03 2.13760844e-02 9.99737864e-01 -2.75212021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13719347 meters Centerline goodness : 0.899076 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.02, Z:-2.75 [[ 9.99813037e-01 -1.66990552e-02 9.74845453e-03 1.90281241e+01] [ 1.69056217e-02 9.99625765e-01 -2.15064992e-02 -1.55002131e-02] [-9.38566811e-03 2.16672819e-02 9.99721180e-01 -2.75332359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16719347 meters Centerline goodness : 0.893243 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.01, Z:-2.75 [[ 9.99859510e-01 -1.38088028e-02 9.50143126e-03 1.90286324e+01] [ 1.39841856e-02 9.99728336e-01 -1.86466179e-02 -1.32752187e-02] [-9.24136259e-03 1.87768680e-02 9.99780989e-01 -2.75332473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19719347 meters Centerline goodness : 0.893868 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.01, Z:-2.75 [[ 9.99898162e-01 -1.07075857e-02 9.43470675e-03 1.90286994e+01] [ 1.08583341e-02 9.99811837e-01 -1.60744213e-02 -9.80297869e-03] [-9.26081325e-03 1.61752295e-02 9.99826285e-01 -2.75308085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22719347 meters Centerline goodness : 0.899479 Centerline is valid? [False, False] Translation: X:19.03, Y:0.00, Z:-2.75 [[ 9.99960284e-01 -2.63118039e-03 8.51518099e-03 1.90310236e+01] [ 2.71176075e-03 9.99951524e-01 -9.46547234e-03 1.97007592e-03] [-8.48986284e-03 9.48818754e-03 9.99918945e-01 -2.75369535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25719347 meters Centerline goodness : 0.892035 Centerline is valid? [False, False] Translation: X:19.03, Y:0.01, Z:-2.75 [[ 9.99963651e-01 1.67542631e-03 8.36000145e-03 1.90311263e+01] [-1.62434035e-03 9.99979991e-01 -6.11381173e-03 9.21846216e-03] [-8.37007742e-03 6.10001001e-03 9.99946364e-01 -2.75325216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28719347 meters Centerline goodness : 0.894710 Centerline is valid? [False, False] Translation: X:19.03, Y:0.02, Z:-2.75 [[ 9.99938609e-01 7.64477727e-03 8.02091565e-03 1.90316448e+01] [-7.63553889e-03 9.99970151e-01 -1.18177848e-03 1.59896979e-02] [-8.02971066e-03 1.12046192e-03 9.99967134e-01 -2.75281106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31719347 meters Centerline goodness : 0.899813 Centerline is valid? [False, False] Translation: X:19.04, Y:0.03, Z:-2.75 [[ 9.99848671e-01 1.67020671e-02 4.86573014e-03 1.90368512e+01] [-1.66898013e-02 9.99857462e-01 -2.55066126e-03 3.25134981e-02] [-4.90763790e-03 2.46906720e-03 9.99984909e-01 -2.75010214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34719347 meters Centerline goodness : 0.896520 Centerline is valid? [False, False] Translation: X:19.04, Y:0.04, Z:-2.75 [[ 9.99777260e-01 2.05812798e-02 4.67346056e-03 1.90378111e+01] [-2.05807268e-02 9.99788181e-01 -1.66391452e-04 3.83811607e-02] [-4.67589517e-03 7.01711746e-05 9.99989065e-01 -2.75043501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37719347 meters Centerline goodness : 0.898275 Centerline is valid? [False, False] Translation: X:19.04, Y:0.04, Z:-2.75 [[ 9.99710059e-01 2.36660276e-02 4.44048623e-03 1.90388415e+01] [-2.36738060e-02 9.99718278e-01 1.70740217e-03 4.38447903e-02] [-4.39882782e-03 -1.81203033e-03 9.99988683e-01 -2.75084527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40719347 meters Centerline goodness : 0.899651 Centerline is valid? [False, False] Translation: X:19.04, Y:0.05, Z:-2.75 [[ 9.99652096e-01 2.60061618e-02 4.40075154e-03 1.90385288e+01] [-2.60159883e-02 9.99659127e-01 2.19057675e-03 5.40158148e-02] [-4.34228295e-03 -2.30430454e-03 9.99987917e-01 -2.74972710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43719347 meters Centerline goodness : 0.889794 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99661545e-01 2.56993297e-02 4.04238372e-03 1.90390749e+01] [-2.57043228e-02 9.99668883e-01 1.18812756e-03 5.83342366e-02] [-4.01051113e-03 -1.29163217e-03 9.99991124e-01 -2.74930629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46719346999998 meters Centerline goodness : 0.887554 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99674840e-01 2.52282588e-02 3.70803003e-03 1.90394883e+01] [-2.52285028e-02 9.99681710e-01 1.90261339e-05 6.18109593e-02] [-3.70636980e-03 -1.12567993e-04 9.99993125e-01 -2.74882690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49719346999998 meters Centerline goodness : 0.888406 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99590845e-01 2.83770286e-02 3.58979667e-03 1.90402143e+01] [-2.83890987e-02 9.99591310e-01 3.35730814e-03 6.25231220e-02] [-3.49305912e-03 -3.45784557e-03 9.99987921e-01 -2.74910377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52719347 meters Centerline goodness : 0.890516 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99490394e-01 3.17835914e-02 2.95894146e-03 1.90421054e+01] [-3.18037049e-02 9.99469491e-01 7.01859796e-03 6.27841328e-02] [-2.73429546e-03 -7.10912654e-03 9.99970992e-01 -2.74980829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55719347 meters Centerline goodness : 0.888671 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.75 [[ 9.99353987e-01 3.58525755e-02 2.49014581e-03 1.90438693e+01] [-3.58770915e-02 9.99299788e-01 1.06191896e-02 6.42397119e-02] [-2.10767688e-03 -1.07016686e-02 9.99940514e-01 -2.75073379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58719347 meters Centerline goodness : 0.885601 Centerline is valid? [False, False] Translation: X:19.06, Y:0.06, Z:-2.75 [[ 9.99382905e-01 3.48957056e-02 4.01227202e-03 1.90554691e+01] [-3.49713469e-02 9.99174964e-01 2.06493792e-02 6.36459600e-02] [-3.28838710e-03 -2.07769511e-02 9.99778728e-01 -2.75295276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61719347 meters Centerline goodness : 0.883558 Centerline is valid? [False, False] Translation: X:19.06, Y:0.06, Z:-2.75 [[ 9.99380047e-01 3.50252582e-02 3.57125458e-03 1.90569142e+01] [-3.50913440e-02 9.99173424e-01 2.05199017e-02 6.46093801e-02] [-2.84958781e-03 -2.06325004e-02 9.99783066e-01 -2.75357813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64719347 meters Centerline goodness : 0.881595 Centerline is valid? [False, False] Translation: X:19.07, Y:0.06, Z:-2.76 [[ 9.99493550e-01 3.08649577e-02 7.74585190e-03 1.90668522e+01] [-3.10723631e-02 9.99117519e-01 2.82611268e-02 6.20509215e-02] [-6.86673785e-03 -2.84874959e-02 9.99570563e-01 -2.75586049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67719347 meters Centerline goodness : 0.878179 Centerline is valid? [False, False] Translation: X:19.08, Y:0.06, Z:-2.76 [[ 9.99651670e-01 2.47786844e-02 9.08600192e-03 1.90765807e+01] [-2.50775696e-02 9.99093240e-01 3.44065876e-02 5.96017455e-02] [-8.22521312e-03 -3.46224576e-02 9.99366615e-01 -2.75625018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70719347 meters Centerline goodness : 0.878179 Centerline is valid? [False, False] Translation: X:19.08, Y:0.06, Z:-2.76 [[ 9.99651708e-01 2.47615645e-02 9.12840780e-03 1.90765200e+01] [-2.50598802e-02 9.99102173e-01 3.41592012e-02 6.01537493e-02] [-8.27437680e-03 -3.43760606e-02 9.99374715e-01 -2.75627950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73719347 meters Centerline goodness : 0.885474 Centerline is valid? [False, False] Translation: X:19.08, Y:0.06, Z:-2.76 [[ 9.99754115e-01 2.04364905e-02 8.60575878e-03 1.90779478e+01] [-2.06924495e-02 9.99311790e-01 3.07858612e-02 5.74086063e-02] [-7.97068126e-03 -3.09563656e-02 9.99488955e-01 -2.75716235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76719347 meters Centerline goodness : 0.881363 Centerline is valid? [False, False] Translation: X:19.06, Y:0.06, Z:-2.76 [[ 9.99950510e-01 6.65795637e-03 7.39251090e-03 1.90601868e+01] [-6.90776683e-03 9.99387795e-01 3.42974977e-02 5.50308981e-02] [-7.15963392e-03 -3.43468660e-02 9.99384327e-01 -2.75880843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79719347 meters Centerline goodness : 0.885469 Centerline is valid? [False, False] Translation: X:19.05, Y:0.06, Z:-2.76 [[ 9.99994090e-01 2.08239455e-03 2.73577986e-03 1.90451675e+01] [-2.15594022e-03 9.99628752e-01 2.71608150e-02 5.93548341e-02] [-2.67820467e-03 -2.71665527e-02 9.99627333e-01 -2.75925101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82719347 meters Centerline goodness : 0.885541 Centerline is valid? [False, False] Translation: X:19.03, Y:0.07, Z:-2.75 [[ 9.99992821e-01 2.88466000e-04 -3.77828099e-03 1.90331226e+01] [-2.24594652e-04 9.99857254e-01 1.68943980e-02 6.55263371e-02] [ 3.78261512e-03 -1.68934282e-02 9.99850141e-01 -2.75499525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85719347 meters Centerline goodness : 0.881332 Centerline is valid? [False, False] Translation: X:19.03, Y:0.07, Z:-2.76 [[ 9.99990519e-01 -3.66064490e-04 -4.33906524e-03 1.90345083e+01] [ 4.35003608e-04 9.99873528e-01 1.58977306e-02 6.84064871e-02] [ 4.33269688e-03 -1.58994674e-02 9.99864208e-01 -2.75542559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88719347 meters Centerline goodness : 0.878434 Centerline is valid? [False, False] Translation: X:19.02, Y:0.07, Z:-2.75 [[ 9.99960473e-01 1.68427395e-03 -8.73020842e-03 1.90176869e+01] [-1.57823270e-03 9.99925072e-01 1.21391643e-02 7.46285179e-02] [ 8.74999996e-03 -1.21249062e-02 9.99888206e-01 -2.75330951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91719347 meters Centerline goodness : 0.875798 Centerline is valid? [False, False] Translation: X:19.00, Y:0.08, Z:-2.75 [[ 9.99941226e-01 5.41287012e-03 -9.39385521e-03 1.89966625e+01] [-5.28767421e-03 9.99897550e-01 1.33014759e-02 7.66598726e-02] [ 9.46489197e-03 -1.32510225e-02 9.99867404e-01 -2.75176529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94719347 meters Centerline goodness : 0.883687 Centerline is valid? [False, False] Translation: X:18.99, Y:0.08, Z:-2.75 [[ 9.99927261e-01 7.90218018e-03 -9.11199448e-03 1.89948928e+01] [-7.76083947e-03 9.99850616e-01 1.54439051e-02 7.81648629e-02] [ 9.23267382e-03 -1.53720650e-02 9.99839216e-01 -2.74991572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97719347 meters Centerline goodness : 0.878093 Centerline is valid? [False, False] Translation: X:18.99, Y:0.08, Z:-2.75 [[ 9.99891560e-01 1.14789369e-02 -9.22508299e-03 1.89944596e+01] [-1.13161713e-02 9.99782711e-01 1.75064560e-02 8.43634638e-02] [ 9.42403398e-03 -1.74001650e-02 9.99804192e-01 -2.74871110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00719347 meters Centerline goodness : 0.881521 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99843673e-01 1.48794857e-02 -9.55147118e-03 1.89950089e+01] [-1.46803329e-02 9.99680167e-01 2.05925113e-02 8.69935380e-02] [ 9.85482228e-03 -2.04490734e-02 9.99742326e-01 -2.74834259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03719347 meters Centerline goodness : 0.879505 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99788295e-01 1.81237009e-02 -9.74149802e-03 1.89952627e+01] [-1.78895464e-02 9.99561189e-01 2.36091937e-02 8.88670870e-02] [ 1.01651093e-02 -2.34299245e-02 9.99673801e-01 -2.74788313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06719347 meters Centerline goodness : 0.878995 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99714299e-01 2.18392179e-02 -9.71434141e-03 1.89953940e+01] [-2.15659150e-02 9.99391862e-01 2.74010340e-02 8.86341549e-02] [ 1.03068509e-02 -2.71837068e-02 9.99577318e-01 -2.74776853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09719347 meters Centerline goodness : 0.881707 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99687513e-01 2.30784831e-02 -9.60515958e-03 1.89953261e+01] [-2.28015943e-02 9.99347780e-01 2.80018024e-02 8.82665282e-02] [ 1.02451340e-02 -2.77740393e-02 9.99561724e-01 -2.74771951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12719347 meters Centerline goodness : 0.872768 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99657622e-01 2.41459307e-02 -1.00803583e-02 1.89975763e+01] [-2.38500622e-02 9.99309052e-01 2.85060042e-02 8.92603654e-02] [ 1.07616973e-02 -2.82558272e-02 9.99542793e-01 -2.74919215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15719347 meters Centerline goodness : 0.871994 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99583698e-01 2.67483585e-02 -1.08145996e-02 1.90001755e+01] [-2.63977476e-02 9.99159575e-01 3.13576451e-02 8.92218404e-02] [ 1.16442763e-02 -3.10591098e-02 9.99449720e-01 -2.75042328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18719347 meters Centerline goodness : 0.872617 Centerline is valid? [False, False] Translation: X:19.00, Y:0.09, Z:-2.75 [[ 9.99459230e-01 3.09181189e-02 -1.11945691e-02 1.90010872e+01] [-3.05003715e-02 9.98895578e-01 3.57400438e-02 8.78687742e-02] [ 1.22872205e-02 -3.53792781e-02 9.99298419e-01 -2.75026550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21719346999998 meters Centerline goodness : 0.875474 Centerline is valid? [False, False] Translation: X:19.01, Y:0.09, Z:-2.75 [[ 9.99554273e-01 2.92874056e-02 -5.78818718e-03 1.90126052e+01] [-2.90118526e-02 9.98652747e-01 4.30232814e-02 8.57677528e-02] [ 7.04042932e-03 -4.28361787e-02 9.99057303e-01 -2.75382052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24719346999998 meters Centerline goodness : 0.873351 Centerline is valid? [False, False] Translation: X:19.01, Y:0.09, Z:-2.75 [[ 9.99546955e-01 2.94580493e-02 -6.17323826e-03 1.90137572e+01] [-2.91658898e-02 9.98648490e-01 4.30179606e-02 8.53975352e-02] [ 7.43212027e-03 -4.28184235e-02 9.99055227e-01 -2.75415411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27719347 meters Centerline goodness : 0.875289 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99631930e-01 2.70946159e-02 -1.37312352e-03 1.90267065e+01] [-2.69929801e-02 9.98400128e-01 4.96846483e-02 8.29433723e-02] [ 2.71711315e-03 -4.96292962e-02 9.98764011e-01 -2.75865303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30719347 meters Centerline goodness : 0.871677 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99718065e-01 2.36749259e-02 -1.81314679e-03 1.90273632e+01] [-2.35641876e-02 9.98626230e-01 4.68015106e-02 8.06968779e-02] [ 2.91867824e-03 -4.67455903e-02 9.98902563e-01 -2.75779798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33719347 meters Centerline goodness : 0.874724 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99788971e-01 2.04135163e-02 -2.30252155e-03 1.90284600e+01] [-2.02943357e-02 9.98850382e-01 4.34287307e-02 7.95210350e-02] [ 3.18640763e-03 -4.33728379e-02 9.99053874e-01 -2.75783846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36719347 meters Centerline goodness : 0.880282 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99851754e-01 1.69401522e-02 -3.08251585e-03 1.90298998e+01] [-1.68029564e-02 9.99053749e-01 4.01156638e-02 7.80561741e-02] [ 3.75916447e-03 -4.00579214e-02 9.99190288e-01 -2.75755103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39719347 meters Centerline goodness : 0.876987 Centerline is valid? [False, False] Translation: X:19.03, Y:0.08, Z:-2.76 [[ 9.99887194e-01 1.45317744e-02 -3.79835259e-03 1.90325086e+01] [-1.43772068e-02 9.99175590e-01 3.79662551e-02 7.58714837e-02] [ 4.34693825e-03 -3.79073626e-02 9.99271803e-01 -2.75867667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42719347 meters Centerline goodness : 0.875480 Centerline is valid? [False, False] Translation: X:19.04, Y:0.07, Z:-2.76 [[ 9.99916649e-01 9.26126972e-03 -8.99578312e-03 1.90366785e+01] [-8.80106355e-03 9.98714630e-01 4.99162306e-02 6.96211576e-02] [ 9.44650788e-03 -4.98328976e-02 9.98712895e-01 -2.75934017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45719347 meters Centerline goodness : 0.879239 Centerline is valid? [False, False] Translation: X:19.04, Y:0.07, Z:-2.76 [[ 9.99913100e-01 8.94891994e-03 -9.68035498e-03 1.90386090e+01] [-8.45109731e-03 9.98698461e-01 5.02987399e-02 6.74745415e-02] [ 1.01178750e-02 -5.02125593e-02 9.98687302e-01 -2.76013699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48719347 meters Centerline goodness : 0.879451 Centerline is valid? [False, False] Translation: X:19.04, Y:0.07, Z:-2.76 [[ 9.99908131e-01 9.08507822e-03 -1.00594174e-02 1.90394352e+01] [-8.56006112e-03 9.98658971e-01 5.10586385e-02 6.52497044e-02] [ 1.05097992e-02 -5.09678385e-02 9.98644994e-01 -2.76006235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51719347 meters Centerline goodness : 0.881505 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.76 [[ 9.99904682e-01 9.18056636e-03 -1.03122991e-02 1.90399862e+01] [-8.63607955e-03 9.98627508e-01 5.16577075e-02 6.27148494e-02] [ 1.07723926e-02 -5.15637258e-02 9.98611605e-01 -2.75999985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54719347 meters Centerline goodness : 0.879509 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.76 [[ 9.99900200e-01 9.13282353e-03 -1.07787138e-02 1.90413732e+01] [-8.55820825e-03 9.98599819e-01 5.22030542e-02 6.00787825e-02] [ 1.12403829e-02 -5.21055979e-02 9.98578320e-01 -2.76059219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57719347 meters Centerline goodness : 0.881331 Centerline is valid? [False, False] Translation: X:19.04, Y:0.06, Z:-2.76 [[ 9.99888558e-01 9.28996832e-03 -1.16862749e-02 1.90437314e+01] [-8.65165556e-03 9.98528573e-01 5.35335184e-02 5.54541638e-02] [ 1.21664041e-02 -5.34264469e-02 9.98497668e-01 -2.76119357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60719347 meters Centerline goodness : 0.878434 Centerline is valid? [False, False] Translation: X:19.04, Y:0.05, Z:-2.76 [[ 9.99884505e-01 9.09270766e-03 -1.21777966e-02 1.90447497e+01] [-8.42217007e-03 9.98504053e-01 5.40252162e-02 5.30881066e-02] [ 1.26508148e-02 -5.39164131e-02 9.98465311e-01 -2.76109677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63719347 meters Centerline goodness : 0.878221 Centerline is valid? [False, False] Translation: X:19.05, Y:0.05, Z:-2.76 [[ 9.99884201e-01 8.62128885e-03 -1.25402539e-02 1.90454564e+01] [-7.92315719e-03 9.98471741e-01 5.46937558e-02 5.01339539e-02] [ 1.29926198e-02 -5.45880639e-02 9.98424426e-01 -2.76072133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66719347 meters Centerline goodness : 0.875919 Centerline is valid? [False, False] Translation: X:19.04, Y:0.05, Z:-2.76 [[ 9.99916362e-01 1.43296670e-03 -1.28536182e-02 1.90444766e+01] [-8.01690411e-04 9.98799238e-01 4.89840824e-02 4.52220343e-02] [ 1.29083766e-02 -4.89696809e-02 9.98716849e-01 -2.75834690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69719347 meters Centerline goodness : 0.880053 Centerline is valid? [False, False] Translation: X:19.01, Y:0.05, Z:-2.76 [[ 9.99975821e-01 -2.86787984e-03 -6.33509669e-03 1.90070697e+01] [ 3.13071453e-03 9.99117909e-01 4.18760334e-02 4.55644989e-02] [ 6.20941313e-03 -4.18948542e-02 9.99102730e-01 -2.75936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72719347 meters Centerline goodness : 0.879678 Centerline is valid? [False, False] Translation: X:18.98, Y:0.04, Z:-2.76 [[ 9.99962180e-01 -7.15752802e-03 -4.94058274e-03 1.89834793e+01] [ 7.34208006e-03 9.99235243e-01 3.84060208e-02 4.45579115e-02] [ 4.66191223e-03 -3.84408424e-02 9.99250003e-01 -2.75620102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75719347 meters Centerline goodness : 0.876309 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.75 [[ 9.99930488e-01 -1.12014880e-02 -3.68050117e-03 1.89612084e+01] [ 1.13257357e-02 9.99299180e-01 3.56773928e-02 4.27793208e-02] [ 3.27828191e-03 -3.57165971e-02 9.99356582e-01 -2.75450217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78719347 meters Centerline goodness : 0.880356 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.75 [[ 9.99820984e-01 -1.85000641e-02 -3.96830585e-03 1.89619514e+01] [ 1.86049474e-02 9.99427445e-01 2.82601952e-02 4.22385782e-02] [ 3.44321836e-03 -2.83289663e-02 9.99592724e-01 -2.75424142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81719347 meters Centerline goodness : 0.880797 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.76 [[ 9.99645402e-01 -2.63074204e-02 -4.12181256e-03 1.89633794e+01] [ 2.63867842e-02 9.99440439e-01 2.05559243e-02 4.13000118e-02] [ 3.57873281e-03 -2.06573966e-02 9.99780208e-01 -2.75514035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84719347 meters Centerline goodness : 0.876069 Centerline is valid? [False, False] Translation: X:18.96, Y:0.04, Z:-2.76 [[ 9.99627276e-01 -2.69564229e-02 -4.31976590e-03 1.89644807e+01] [ 2.70366800e-02 9.99439433e-01 1.97443005e-02 4.27621595e-02] [ 3.78510867e-03 -1.98537334e-02 9.99795730e-01 -2.75597755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87719347 meters Centerline goodness : 0.875821 Centerline is valid? [False, False] Translation: X:18.97, Y:0.05, Z:-2.76 [[ 9.99613262e-01 -2.74348718e-02 -4.54478230e-03 1.89653752e+01] [ 2.75157873e-02 9.99444237e-01 1.88174918e-02 4.54135301e-02] [ 4.02600101e-03 -1.89352677e-02 9.99812606e-01 -2.75646257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90719347 meters Centerline goodness : 0.875973 Centerline is valid? [False, False] Translation: X:18.97, Y:0.05, Z:-2.76 [[ 9.99685148e-01 -2.49178741e-02 -2.95034743e-03 1.89746089e+01] [ 2.49450184e-02 9.99643191e-01 9.55181805e-03 5.14737777e-02] [ 2.71128372e-03 -9.62240711e-03 9.99950028e-01 -2.75618704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93719347 meters Centerline goodness : 0.879447 Centerline is valid? [False, False] Translation: X:18.98, Y:0.05, Z:-2.76 [[ 9.99685627e-01 -2.48315323e-02 -3.47021523e-03 1.89760509e+01] [ 2.48614737e-02 9.99651562e-01 8.86918141e-03 5.42851301e-02] [ 3.24877071e-03 -8.95266784e-03 9.99954647e-01 -2.75677631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96719346999998 meters Centerline goodness : 0.887906 Centerline is valid? [False, False] Translation: X:18.98, Y:0.06, Z:-2.76 [[ 9.99689350e-01 -2.45879861e-02 -4.07854656e-03 1.89778217e+01] [ 2.46210017e-02 9.99662794e-01 8.25252947e-03 5.83631760e-02] [ 3.87425817e-03 -8.35038372e-03 9.99957630e-01 -2.75750692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99719346999998 meters Centerline goodness : 0.875609 Centerline is valid? [False, False] Translation: X:18.96, Y:0.07, Z:-2.75 [[ 9.99734286e-01 -2.07116212e-02 -1.01185887e-02 1.89640019e+01] [ 2.07760069e-02 9.99764306e-01 6.29997598e-03 6.82283716e-02] [ 9.98572109e-03 -6.50852585e-03 9.99928960e-01 -2.75416924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02719347 meters Centerline goodness : 0.880870 Centerline is valid? [False, False] Translation: X:18.97, Y:0.07, Z:-2.76 [[ 9.99729415e-01 -2.04283032e-02 -1.11257032e-02 1.89674173e+01] [ 2.04989497e-02 9.99770193e-01 6.27325507e-03 7.02251850e-02] [ 1.09949944e-02 -6.49962285e-03 9.99918429e-01 -2.75597006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05719347 meters Centerline goodness : 0.880122 Centerline is valid? [False, False] Translation: X:18.97, Y:0.07, Z:-2.76 [[ 9.99707181e-01 -2.12484142e-02 -1.15782814e-02 1.89693515e+01] [ 2.13090355e-02 9.99759735e-01 5.13780048e-03 7.23867834e-02] [ 1.14663295e-02 -5.38301805e-03 9.99919770e-01 -2.75722036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08719347 meters Centerline goodness : 0.882603 Centerline is valid? [False, False] Translation: X:18.97, Y:0.08, Z:-2.76 [[ 9.99684993e-01 -2.20215402e-02 -1.20401865e-02 1.89710286e+01] [ 2.20707644e-02 9.99748525e-01 3.97083979e-03 7.52912385e-02] [ 1.19497147e-02 -4.23532507e-03 9.99919630e-01 -2.75811968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11719347 meters Centerline goodness : 0.882644 Centerline is valid? [False, False] Translation: X:18.97, Y:0.08, Z:-2.76 [[ 9.99656287e-01 -2.29913168e-02 -1.25979140e-02 1.89723174e+01] [ 2.30208957e-02 9.99732546e-01 2.20794327e-03 8.27169250e-02] [ 1.25437812e-02 -2.49719963e-03 9.99918205e-01 -2.75832405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14719347 meters Centerline goodness : 0.886228 Centerline is valid? [False, False] Translation: X:18.97, Y:0.09, Z:-2.76 [[ 9.99642452e-01 -2.32546610e-02 -1.31980346e-02 1.89736551e+01] [ 2.32753775e-02 9.99728086e-01 1.41821949e-03 8.53120208e-02] [ 1.31614657e-02 -1.72490164e-03 9.99911896e-01 -2.75836858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17719347 meters Centerline goodness : 0.882517 Centerline is valid? [False, False] Translation: X:18.97, Y:0.09, Z:-2.76 [[ 9.99713213e-01 -1.97824456e-02 -1.34961711e-02 1.89742754e+01] [ 1.98509180e-02 9.99790655e-01 4.95850000e-03 8.57670348e-02] [ 1.33952545e-02 -5.22498935e-03 9.99896628e-01 -2.75845871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20719347 meters Centerline goodness : 0.888351 Centerline is valid? [False, False] Translation: X:18.98, Y:0.09, Z:-2.76 [[ 9.99777427e-01 -1.59546475e-02 -1.38038425e-02 1.89750795e+01] [ 1.60747787e-02 9.99833497e-01 8.63599440e-03 8.69534060e-02] [ 1.36637599e-02 -8.85596597e-03 9.99867428e-01 -2.75875895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23719347 meters Centerline goodness : 0.893729 Centerline is valid? [False, False] Translation: X:18.98, Y:0.10, Z:-2.76 [[ 9.99854367e-01 -9.31811409e-03 -1.42974939e-02 1.89757633e+01] [ 9.50886059e-03 9.99865914e-01 1.33317862e-02 9.51121533e-02] [ 1.41713497e-02 -1.34657976e-02 9.99808904e-01 -2.75909238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26719347 meters Centerline goodness : 0.889216 Centerline is valid? [False, False] Translation: X:18.98, Y:0.10, Z:-2.76 [[ 9.99873704e-01 -5.80978755e-03 -1.47926495e-02 1.89772218e+01] [ 6.04793254e-03 9.99852009e-01 1.61053607e-02 9.85956699e-02] [ 1.46968916e-02 -1.61927916e-02 9.99760869e-01 -2.75974682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29719347 meters Centerline goodness : 0.890968 Centerline is valid? [False, False] Translation: X:18.96, Y:0.10, Z:-2.76 [[ 9.99817414e-01 -2.53347717e-03 -1.89399236e-02 1.89609875e+01] [ 2.79873122e-03 9.99898195e-01 1.39916594e-02 1.04464991e-01] [ 1.89025478e-02 -1.40421125e-02 9.99722718e-01 -2.75899237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32719347 meters Centerline goodness : 0.889799 Centerline is valid? [False, False] Translation: X:18.96, Y:0.11, Z:-2.76 [[ 9.99814496e-01 9.29704186e-04 -1.92382152e-02 1.89620948e+01] [-6.10175774e-04 9.99861887e-01 1.66082557e-02 1.08171717e-01] [ 1.92509989e-02 -1.65934361e-02 9.99676976e-01 -2.75948570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35719347 meters Centerline goodness : 0.889884 Centerline is valid? [False, False] Translation: X:18.96, Y:0.12, Z:-2.76 [[ 9.99810933e-01 3.96024315e-03 -1.90372033e-02 1.89602640e+01] [-3.62631263e-03 9.99839524e-01 1.75435752e-02 1.16228571e-01] [ 1.91036251e-02 -1.74712234e-02 9.99664848e-01 -2.75698350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38719347 meters Centerline goodness : 0.894793 Centerline is valid? [False, False] Translation: X:18.96, Y:0.12, Z:-2.76 [[ 9.99797770e-01 6.79454531e-03 -1.89275974e-02 1.89595766e+01] [-6.40617610e-03 9.99769241e-01 2.05042838e-02 1.16906458e-01] [ 1.90625470e-02 -2.03788836e-02 9.99610584e-01 -2.75610035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41719347 meters Centerline goodness : 0.886996 Centerline is valid? [False, False] Translation: X:18.97, Y:0.12, Z:-2.75 [[ 9.99728715e-01 5.27598447e-03 -2.26861441e-02 1.89666514e+01] [-4.75174452e-03 9.99721855e-01 2.31005119e-02 1.19087301e-01] [ 2.28017120e-02 -2.29864463e-02 9.99475715e-01 -2.75425054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44719347 meters Centerline goodness : 0.888246 Centerline is valid? [False, False] Translation: X:18.97, Y:0.12, Z:-2.75 [[ 9.99723752e-01 5.01151814e-03 -2.29631031e-02 1.89672248e+01] [-4.49650638e-03 9.99738421e-01 2.24248003e-02 1.20828342e-01] [ 2.30694787e-02 -2.23153517e-02 9.99484779e-01 -2.75399690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47719347 meters Centerline goodness : 0.895028 Centerline is valid? [False, False] Translation: X:18.97, Y:0.12, Z:-2.75 [[ 9.99720368e-01 4.55098890e-03 -2.32050539e-02 1.89677708e+01] [-4.04749479e-03 9.99756365e-01 2.16985978e-02 1.22741599e-01] [ 2.32981504e-02 -2.15986079e-02 9.99495221e-01 -2.75393449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50719347 meters Centerline goodness : 0.891074 Centerline is valid? [False, False] Translation: X:18.97, Y:0.13, Z:-2.75 [[ 9.99714974e-01 4.10025254e-03 -2.35193312e-02 1.89678181e+01] [-3.61358241e-03 9.99779250e-01 2.06976532e-02 1.25874861e-01] [ 2.35990049e-02 -2.06067648e-02 9.99509104e-01 -2.75299010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53719347 meters Centerline goodness : 0.891907 Centerline is valid? [False, False] Translation: X:18.97, Y:0.13, Z:-2.75 [[ 9.99707236e-01 6.44101104e-03 -2.33228654e-02 1.89665477e+01] [-5.89762791e-03 9.99711295e-01 2.32926009e-02 1.26319048e-01] [ 2.34661599e-02 -2.31482321e-02 9.99456602e-01 -2.75161488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56719347 meters Centerline goodness : 0.896155 Centerline is valid? [False, False] Translation: X:18.97, Y:0.13, Z:-2.75 [[ 9.99748911e-01 5.91555634e-03 -2.16129828e-02 1.89743228e+01] [-5.17064054e-03 9.99396114e-01 3.43609102e-02 1.25323050e-01] [ 2.18031949e-02 -3.42405296e-02 9.99175764e-01 -2.75045635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59719347 meters Centerline goodness : 0.907228 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99732270e-01 6.42422587e-03 -2.22287501e-02 1.89755912e+01] [-5.66510505e-03 9.99404196e-01 3.40464469e-02 1.27380914e-01] [ 2.24342282e-02 -3.39114034e-02 9.99173019e-01 -2.75038309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62719347 meters Centerline goodness : 0.899958 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99706968e-01 7.46959936e-03 -2.30257241e-02 1.89788056e+01] [-6.67201843e-03 9.99381632e-01 3.45230003e-02 1.28745325e-01] [ 2.32693587e-02 -3.43592558e-02 9.99138618e-01 -2.75235705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65719347 meters Centerline goodness : 0.899958 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99706865e-01 7.54405871e-03 -2.30058818e-02 1.89787621e+01] [-6.75034198e-03 9.99385856e-01 3.43852219e-02 1.28972517e-01] [ 2.32511570e-02 -3.42198448e-02 9.99143826e-01 -2.75238888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68719347 meters Centerline goodness : 0.898015 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.75 [[ 9.99676373e-01 8.83363578e-03 -2.38561452e-02 1.89820931e+01] [-7.99389472e-03 9.99352921e-01 3.50690369e-02 1.30202822e-01] [ 2.41504955e-02 -3.48669841e-02 9.99100119e-01 -2.75429766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71719346999998 meters Centerline goodness : 0.897720 Centerline is valid? [False, False] Translation: X:18.98, Y:0.13, Z:-2.76 [[ 9.99647943e-01 9.98803505e-03 -2.45810722e-02 1.89848712e+01] [-9.10848181e-03 9.99323283e-01 3.56372114e-02 1.30999240e-01] [ 2.49203835e-02 -3.54007689e-02 9.99062441e-01 -2.75593660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74719346999998 meters Centerline goodness : 0.897188 Centerline is valid? [False, False] Translation: X:18.99, Y:0.13, Z:-2.76 [[ 9.99564817e-01 1.27061029e-02 -2.66219958e-02 1.89910385e+01] [-1.17133081e-02 9.99242090e-01 3.71220136e-02 1.30939366e-01] [ 2.70734949e-02 -3.67940271e-02 9.98956068e-01 -2.75858186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77719347 meters Centerline goodness : 0.894208 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99533906e-01 1.29830855e-02 -2.76298841e-02 1.89954717e+01] [-1.19508683e-02 9.99236322e-01 3.72014762e-02 1.31113585e-01] [ 2.80917737e-02 -3.68539357e-02 9.98925743e-01 -2.76150141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80719347 meters Centerline goodness : 0.897639 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99511474e-01 1.28845170e-02 -2.84746049e-02 1.89992146e+01] [-1.18255498e-02 9.99243425e-01 3.70504262e-02 1.31162445e-01] [ 2.89304386e-02 -3.66955983e-02 9.98907635e-01 -2.76408123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83719347 meters Centerline goodness : 0.896455 Centerline is valid? [False, False] Translation: X:19.01, Y:0.13, Z:-2.77 [[ 9.99666153e-01 9.87516059e-03 -2.38759957e-02 1.90098979e+01] [-9.28208577e-03 9.99648737e-01 2.48242982e-02 1.33414449e-01] [ 2.41127529e-02 -2.45943917e-02 9.99406670e-01 -2.76634696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86719347 meters Centerline goodness : 0.893399 Centerline is valid? [False, False] Translation: X:19.03, Y:0.13, Z:-2.77 [[ 9.99753252e-01 6.02640889e-03 -2.13803293e-02 1.90290021e+01] [-5.49583882e-03 9.99677614e-01 2.47883616e-02 1.31146291e-01] [ 2.15228214e-02 -2.46647422e-02 9.99464066e-01 -2.76753681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89719347 meters Centerline goodness : 0.895765 Centerline is valid? [False, False] Translation: X:19.05, Y:0.13, Z:-2.77 [[ 9.99826231e-01 1.79717274e-03 -1.85547277e-02 1.90475788e+01] [-1.35044960e-03 9.99709592e-01 2.40604926e-02 1.28946957e-01] [ 1.85925801e-02 -2.40312544e-02 9.99538301e-01 -2.76822258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92719347 meters Centerline goodness : 0.893455 Centerline is valid? [False, False] Translation: X:19.06, Y:0.12, Z:-2.77 [[ 9.99862731e-01 -8.31790818e-03 -1.43294260e-02 1.90628079e+01] [ 8.90107716e-03 9.99114313e-01 4.11261556e-02 1.22492080e-01] [ 1.39746510e-02 -4.12480576e-02 9.99051203e-01 -2.76739008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95719347 meters Centerline goodness : 0.899582 Centerline is valid? [False, False] Translation: X:19.06, Y:0.12, Z:-2.77 [[ 9.99812519e-01 -1.28254847e-02 -1.45063403e-02 1.90625982e+01] [ 1.33517636e-02 9.99234045e-01 3.67838779e-02 1.23159692e-01] [ 1.40234581e-02 -3.69706669e-02 9.99217950e-01 -2.76609061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98719347 meters Centerline goodness : 0.902238 Centerline is valid? [False, False] Translation: X:19.03, Y:0.12, Z:-2.77 [[ 9.99796308e-01 -1.65365220e-02 -1.15709406e-02 1.90341705e+01] [ 1.69995888e-02 9.99008890e-01 4.11369804e-02 1.21309278e-01] [ 1.08792099e-02 -4.13253024e-02 9.99086514e-01 -2.76825183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01719347 meters Centerline goodness : 0.901993 Centerline is valid? [False, False] Translation: X:19.03, Y:0.12, Z:-2.77 [[ 9.99752647e-01 -1.89638908e-02 -1.16196097e-02 1.90330644e+01] [ 1.94081059e-02 9.99035374e-01 3.93909505e-02 1.21465776e-01] [ 1.08613954e-02 -3.96067217e-02 9.99156313e-01 -2.76666800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04719347 meters Centerline goodness : 0.902638 Centerline is valid? [False, False] Translation: X:19.00, Y:0.12, Z:-2.77 [[ 9.99772928e-01 -1.93080535e-02 -9.01621478e-03 1.90033777e+01] [ 1.95484112e-02 9.99433988e-01 2.73781629e-02 1.24431828e-01] [ 8.48249246e-03 -2.75481988e-02 9.99584486e-01 -2.76632133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07719347 meters Centerline goodness : 0.904119 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99715231e-01 -2.23375262e-02 -8.39588534e-03 1.90004423e+01] [ 2.25362840e-02 9.99448829e-01 2.43752640e-02 1.27290908e-01] [ 7.84677467e-03 -2.45575347e-02 9.99667623e-01 -2.76365421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10719347 meters Centerline goodness : 0.896980 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99695036e-01 -2.31983435e-02 -8.46589616e-03 1.90005063e+01] [ 2.33892290e-02 9.99457393e-01 2.31918947e-02 1.29695800e-01] [ 7.92328896e-03 -2.33828328e-02 9.99695186e-01 -2.76341475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13719347 meters Centerline goodness : 0.901059 Centerline is valid? [False, False] Translation: X:19.00, Y:0.13, Z:-2.76 [[ 9.99676071e-01 -2.39223936e-02 -8.68749399e-03 1.90009896e+01] [ 2.41081123e-02 9.99468526e-01 2.19422981e-02 1.33027180e-01] [ 8.15796452e-03 -2.21446294e-02 9.99721493e-01 -2.76339677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16719347 meters Centerline goodness : 0.901376 Centerline is valid? [False, False] Translation: X:19.00, Y:0.14, Z:-2.76 [[ 9.99656707e-01 -2.46833591e-02 -8.78638786e-03 1.90012609e+01] [ 2.48602703e-02 9.99478056e-01 2.06296552e-02 1.36383261e-01] [ 8.27259267e-03 -2.08410051e-02 9.99748577e-01 -2.76331613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19719347 meters Centerline goodness : 0.900023 Centerline is valid? [False, False] Translation: X:19.00, Y:0.14, Z:-2.76 [[ 9.99624009e-01 -2.61115420e-02 -8.36822924e-03 1.89999705e+01] [ 2.62583278e-02 9.99494214e-01 1.79392546e-02 1.43080547e-01] [ 7.89557511e-03 -1.81522453e-02 9.99804059e-01 -2.76236322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22719347 meters Centerline goodness : 0.896803 Centerline is valid? [False, False] Translation: X:19.00, Y:0.15, Z:-2.76 [[ 9.99608920e-01 -2.66674877e-02 -8.41737426e-03 1.89998924e+01] [ 2.68049740e-02 9.99501731e-01 1.66668316e-02 1.46702580e-01] [ 7.96871761e-03 -1.68859410e-02 9.99825667e-01 -2.76196067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25719347 meters Centerline goodness : 0.899126 Centerline is valid? [False, False] Translation: X:19.00, Y:0.15, Z:-2.76 [[ 9.99663535e-01 -2.44823175e-02 -8.56930550e-03 1.90012954e+01] [ 2.46294453e-02 9.99543348e-01 1.75067603e-02 1.54160610e-01] [ 8.13678624e-03 -1.77119271e-02 9.99810022e-01 -2.76350804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28719347 meters Centerline goodness : 0.896651 Centerline is valid? [False, False] Translation: X:18.99, Y:0.16, Z:-2.76 [[ 9.99663553e-01 -2.10676278e-02 -1.51306412e-02 1.89892684e+01] [ 2.12699447e-02 9.99684804e-01 1.33372477e-02 1.59593625e-01] [ 1.48448880e-02 -1.36545883e-02 9.99796570e-01 -2.76088134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31719347 meters Centerline goodness : 0.898681 Centerline is valid? [False, False] Translation: X:18.99, Y:0.16, Z:-2.76 [[ 9.99722590e-01 -1.79023743e-02 -1.53051859e-02 1.89899199e+01] [ 1.81482434e-02 9.99706004e-01 1.60793763e-02 1.62219914e-01] [ 1.50128272e-02 -1.63526780e-02 9.99753572e-01 -2.76148141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34719347 meters Centerline goodness : 0.899118 Centerline is valid? [False, False] Translation: X:18.99, Y:0.17, Z:-2.76 [[ 9.99769424e-01 -1.47603273e-02 -1.55958985e-02 1.89905374e+01] [ 1.50527847e-02 9.99709865e-01 1.88042438e-02 1.65068916e-01] [ 1.53138168e-02 -1.90346697e-02 9.99701540e-01 -2.76170032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37719347 meters Centerline goodness : 0.893835 Centerline is valid? [False, False] Translation: X:18.99, Y:0.17, Z:-2.76 [[ 9.99803370e-01 -1.18173928e-02 -1.59238940e-02 1.89911704e+01] [ 1.21544756e-02 9.99700509e-01 2.12405416e-02 1.68762061e-01] [ 1.56681171e-02 -2.14299116e-02 9.99647572e-01 -2.76181371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40719347 meters Centerline goodness : 0.892081 Centerline is valid? [False, False] Translation: X:18.99, Y:0.18, Z:-2.76 [[ 9.99822833e-01 -4.20358044e-03 -1.83475537e-02 1.89855649e+01] [ 4.48615717e-03 9.99871542e-01 1.53874420e-02 1.77089387e-01] [ 1.82805144e-02 -1.54670259e-02 9.99713256e-01 -2.76350020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43719347 meters Centerline goodness : 0.890360 Centerline is valid? [False, False] Translation: X:18.99, Y:0.18, Z:-2.76 [[ 9.99824002e-01 -3.27644427e-04 -1.87578678e-02 1.89870131e+01] [ 6.75722129e-04 9.99827649e-01 1.85530279e-02 1.79266261e-01] [ 1.87485561e-02 -1.85624377e-02 9.99651903e-01 -2.76439116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46719346999998 meters Centerline goodness : 0.890267 Centerline is valid? [False, False] Translation: X:18.99, Y:0.18, Z:-2.76 [[ 9.99811000e-01 4.01912305e-03 -1.90213030e-02 1.89878794e+01] [-3.60017221e-03 9.99751300e-01 2.20085717e-02 1.81365299e-01] [ 1.91050276e-02 -2.19359321e-02 9.99576817e-01 -2.76483374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49719346999998 meters Centerline goodness : 0.890854 Centerline is valid? [False, False] Translation: X:18.99, Y:0.19, Z:-2.76 [[ 9.99822467e-01 1.24836554e-02 -1.41135886e-02 1.89882450e+01] [-1.22876143e-02 9.99827990e-01 1.38926561e-02 1.88581673e-01] [ 1.42845921e-02 -1.37167674e-02 9.99803881e-01 -2.76428363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52719347 meters Centerline goodness : 0.889062 Centerline is valid? [False, False] Translation: X:19.00, Y:0.19, Z:-2.76 [[ 9.99824309e-01 1.57253695e-02 -1.02012155e-02 1.89964373e+01] [-1.56558600e-02 9.99853918e-01 6.85829144e-03 1.92593583e-01] [ 1.03075744e-02 -6.69737769e-03 9.99924447e-01 -2.76408599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55719347 meters Centerline goodness : 0.892242 Centerline is valid? [False, False] Translation: X:19.01, Y:0.19, Z:-2.76 [[ 9.99851606e-01 1.63695179e-02 -5.36692661e-03 1.90115094e+01] [-1.63173116e-02 9.99820478e-01 9.63103222e-03 1.94055684e-01] [ 5.52361848e-03 -9.54202923e-03 9.99939218e-01 -2.76258411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58719347 meters Centerline goodness : 0.887241 Centerline is valid? [False, False] Translation: X:19.02, Y:0.19, Z:-2.77 [[ 9.99883294e-01 1.52642698e-02 6.32527475e-04 1.90232082e+01] [-1.52726513e-02 9.99746304e-01 1.65551521e-02 1.93083653e-01] [-3.79664698e-04 -1.65628804e-02 9.99862754e-01 -2.76561252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61719347 meters Centerline goodness : 0.890945 Centerline is valid? [False, False] Translation: X:19.02, Y:0.19, Z:-2.77 [[ 9.99869531e-01 1.61528162e-02 -8.59403124e-05 1.90249073e+01] [-1.61488425e-02 9.99716617e-01 1.74900113e-02 1.91258339e-01] [ 3.68428896e-04 -1.74863416e-02 9.99847034e-01 -2.76599959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64719347 meters Centerline goodness : 0.888455 Centerline is valid? [False, False] Translation: X:19.03, Y:0.19, Z:-2.77 [[ 9.99891367e-01 1.47167061e-02 -8.19694979e-04 1.90278475e+01] [-1.47019393e-02 9.99767307e-01 1.57855893e-02 1.91382222e-01] [ 1.05181612e-03 -1.57718234e-02 9.99875064e-01 -2.76793981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67719347 meters Centerline goodness : 0.887916 Centerline is valid? [False, False] Translation: X:19.05, Y:0.19, Z:-2.77 [[ 9.99912535e-01 1.30253247e-02 -2.29403737e-03 1.90496543e+01] [-1.29850720e-02 9.99775136e-01 1.67649909e-02 1.90436446e-01] [ 2.51189097e-03 -1.67337363e-02 9.99856826e-01 -2.76920033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70719347 meters Centerline goodness : 0.886880 Centerline is valid? [False, False] Translation: X:19.06, Y:0.18, Z:-2.77 [[ 9.99915008e-01 1.29912814e-02 1.09706340e-03 1.90637351e+01] [-1.30159517e-02 9.99558579e-01 2.67064104e-02 1.84510433e-01] [-7.49628643e-04 -2.67184199e-02 9.99642718e-01 -2.77284512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73719347 meters Centerline goodness : 0.888168 Centerline is valid? [False, False] Translation: X:19.08, Y:0.18, Z:-2.77 [[ 9.99927201e-01 1.17035089e-02 2.93596949e-03 1.90830649e+01] [-1.17853312e-02 9.99492332e-01 2.96004119e-02 1.81042525e-01] [-2.58805031e-03 -2.96328584e-02 9.99557500e-01 -2.77429669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76719347 meters Centerline goodness : 0.888455 Centerline is valid? [False, False] Translation: X:19.10, Y:0.18, Z:-2.78 [[ 9.99935835e-01 1.06809896e-02 3.77386053e-03 1.91026158e+01] [-1.07970740e-02 9.99422797e-01 3.22101855e-02 1.78454427e-01] [-3.42764559e-03 -3.22488654e-02 9.99473993e-01 -2.77504286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79719347 meters Centerline goodness : 0.887766 Centerline is valid? [False, False] Translation: X:19.10, Y:0.18, Z:-2.78 [[ 9.99934135e-01 1.09733243e-02 3.36328063e-03 1.91036583e+01] [-1.10776808e-02 9.99401752e-01 3.27631480e-02 1.76692367e-01] [-3.00174790e-03 -3.27982474e-02 9.99457485e-01 -2.77526923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82719347 meters Centerline goodness : 0.886624 Centerline is valid? [False, False] Translation: X:19.10, Y:0.17, Z:-2.78 [[ 9.99929493e-01 1.14764747e-02 3.04944075e-03 1.91045989e+01] [-1.15720189e-02 9.99374455e-01 3.34183708e-02 1.74969956e-01] [-2.66400810e-03 -3.34513027e-02 9.99436798e-01 -2.77556225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85719347 meters Centerline goodness : 0.887216 Centerline is valid? [False, False] Translation: X:19.11, Y:0.17, Z:-2.78 [[ 9.99904944e-01 1.35445486e-02 2.57846674e-03 1.91059962e+01] [-1.36287601e-02 9.99256616e-01 3.60620530e-02 1.69260436e-01] [-2.08810572e-03 -3.60937664e-02 9.99346226e-01 -2.77588886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88719347 meters Centerline goodness : 0.889017 Centerline is valid? [False, False] Translation: X:19.11, Y:0.17, Z:-2.78 [[ 9.99927801e-01 1.18751649e-02 1.83666281e-03 1.91082983e+01] [-1.19309091e-02 9.99347099e-01 3.41032034e-02 1.67552418e-01] [-1.43048249e-03 -3.41226542e-02 9.99416629e-01 -2.77683182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91719347 meters Centerline goodness : 0.887325 Centerline is valid? [False, False] Translation: X:19.11, Y:0.17, Z:-2.78 [[ 9.99959456e-01 8.87353268e-03 1.53223451e-03 1.91090300e+01] [-8.91656060e-03 9.99484904e-01 3.08289152e-02 1.66492808e-01] [-1.25788388e-03 -3.08413275e-02 9.99523502e-01 -2.77689086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94719347 meters Centerline goodness : 0.885536 Centerline is valid? [False, False] Translation: X:19.13, Y:0.16, Z:-2.78 [[ 9.99974307e-01 6.75669985e-03 2.39425858e-03 1.91308528e+01] [-6.83359299e-03 9.99408215e-01 3.37123483e-02 1.58262180e-01] [-2.16505747e-03 -3.37278435e-02 9.99428709e-01 -2.78059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97719347 meters Centerline goodness : 0.887202 Centerline is valid? [False, False] Translation: X:19.13, Y:0.15, Z:-2.78 [[ 9.99990107e-01 4.08469969e-03 1.76102405e-03 1.91329980e+01] [-4.13805416e-03 9.99497051e-01 3.14407580e-02 1.54645032e-01] [-1.63171229e-03 -3.14477342e-02 9.99504066e-01 -2.78173125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00719347 meters Centerline goodness : 0.886333 Centerline is valid? [False, False] Translation: X:19.15, Y:0.15, Z:-2.78 [[ 9.99989260e-01 3.25510465e-03 3.29926930e-03 1.91530332e+01] [-3.37350379e-03 9.99326498e-01 3.65399759e-02 1.47509986e-01] [-3.17810579e-03 -3.65507135e-02 9.99326746e-01 -2.78488761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03719347 meters Centerline goodness : 0.888337 Centerline is valid? [False, False] Translation: X:19.17, Y:0.13, Z:-2.79 [[ 9.99992438e-01 -2.41216909e-03 3.05041134e-03 1.91731181e+01] [ 2.23817490e-03 9.98438863e-01 5.58106321e-02 1.33720396e-01] [-3.18027391e-03 -5.58033827e-02 9.98436712e-01 -2.78525045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06719347 meters Centerline goodness : 0.888411 Centerline is valid? [False, False] Translation: X:19.18, Y:0.13, Z:-2.79 [[ 9.99956491e-01 -4.94744648e-03 7.90816877e-03 1.91832892e+01] [ 4.42131651e-03 9.97861356e-01 6.52163003e-02 1.26693544e-01] [-8.21391017e-03 -6.51784983e-02 9.97839814e-01 -2.78774956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09719347 meters Centerline goodness : 0.887714 Centerline is valid? [False, False] Translation: X:19.19, Y:0.12, Z:-2.79 [[ 9.99960879e-01 -5.05484197e-03 7.25867742e-03 1.91850164e+01] [ 4.55968206e-03 9.97763756e-01 6.66835579e-02 1.21414077e-01] [-7.57952009e-03 -6.66478519e-02 9.97747771e-01 -2.78801112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12719347 meters Centerline goodness : 0.887272 Centerline is valid? [False, False] Translation: X:19.19, Y:0.12, Z:-2.79 [[ 9.99966386e-01 -5.04272091e-03 6.46512705e-03 1.91870607e+01] [ 4.59163368e-03 9.97675882e-01 6.79834573e-02 1.17411696e-01] [-6.79292293e-03 -6.79514866e-02 9.97665501e-01 -2.78828327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15719347 meters Centerline goodness : 0.886223 Centerline is valid? [False, False] Translation: X:19.19, Y:0.11, Z:-2.79 [[ 9.99976888e-01 -3.78724523e-03 5.64634104e-03 1.91881766e+01] [ 3.37545455e-03 9.97453744e-01 7.12364688e-02 1.08835722e-01] [-5.90175399e-03 -7.12157634e-02 9.97443474e-01 -2.78673709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18719347 meters Centerline goodness : 0.885724 Centerline is valid? [False, False] Translation: X:19.19, Y:0.11, Z:-2.79 [[ 9.99982219e-01 -2.95585538e-03 5.17924981e-03 1.91892314e+01] [ 2.57079053e-03 9.97340429e-01 7.28385902e-02 1.05052568e-01] [-5.38077557e-03 -7.28239803e-02 9.97330294e-01 -2.78653044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21719346999998 meters Centerline goodness : 0.884996 Centerline is valid? [False, False] Translation: X:19.19, Y:0.10, Z:-2.79 [[ 9.99986413e-01 -1.89918676e-03 4.85461325e-03 1.91902639e+01] [ 1.53184769e-03 9.97213686e-01 7.45822862e-02 1.01177194e-01] [-4.98273247e-03 -7.45738363e-02 9.97203046e-01 -2.78647595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24719346999998 meters Centerline goodness : 0.886916 Centerline is valid? [False, False] Translation: X:19.19, Y:0.10, Z:-2.79 [[ 9.99989546e-01 -1.14180160e-03 4.42767025e-03 1.91913681e+01] [ 8.02300528e-04 9.97112492e-01 7.59344041e-02 9.73386348e-02] [-4.50158734e-03 -7.59300580e-02 9.97102985e-01 -2.78654420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27719347 meters Centerline goodness : 0.885506 Centerline is valid? [False, False] Translation: X:19.21, Y:0.09, Z:-2.79 [[ 9.99976923e-01 5.53808433e-03 3.93492413e-03 1.92098147e+01] [-5.78806528e-03 9.97759777e-01 6.66477705e-02 9.06769526e-02] [-3.55700805e-03 -6.66690081e-02 9.97768806e-01 -2.78517605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30719347 meters Centerline goodness : 0.880671 Centerline is valid? [False, False] Translation: X:19.22, Y:0.09, Z:-2.78 [[ 9.99940828e-01 7.68727898e-03 7.69719642e-03 1.92153417e+01] [-8.11370424e-03 9.98341550e-01 5.69940144e-02 8.85684576e-02] [-7.24630211e-03 -5.70530947e-02 9.98344848e-01 -2.78455288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33719347 meters Centerline goodness : 0.878676 Centerline is valid? [False, False] Translation: X:19.23, Y:0.09, Z:-2.78 [[ 9.99901907e-01 1.20445858e-02 7.14869470e-03 1.92318933e+01] [-1.23566097e-02 9.98895210e-01 4.53395430e-02 8.57108809e-02] [-6.59470087e-03 -4.54234291e-02 9.98946056e-01 -2.78218111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36719347 meters Centerline goodness : 0.883703 Centerline is valid? [False, False] Translation: X:19.24, Y:0.08, Z:-2.78 [[ 9.99845478e-01 1.39808259e-02 1.06563420e-02 1.92419903e+01] [-1.43628673e-02 9.99224570e-01 3.66601573e-02 8.36492187e-02] [-1.01355395e-02 -3.68075481e-02 9.99270972e-01 -2.78399216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39719347 meters Centerline goodness : 0.882374 Centerline is valid? [False, False] Translation: X:19.24, Y:0.08, Z:-2.79 [[ 9.99805616e-01 1.69339777e-02 1.00980464e-02 1.92443574e+01] [-1.73309063e-02 9.99024789e-01 4.06092361e-02 7.59458111e-02] [-9.40052281e-03 -4.07763506e-02 9.99124076e-01 -2.78549671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42719347 meters Centerline goodness : 0.879924 Centerline is valid? [False, False] Translation: X:19.25, Y:0.07, Z:-2.79 [[ 9.99829546e-01 1.58473345e-02 9.47313300e-03 1.92467383e+01] [-1.62116434e-02 9.99079945e-01 3.97044935e-02 7.30107699e-02] [-8.83520680e-03 -3.98513008e-02 9.99166559e-01 -2.78688646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45719347 meters Centerline goodness : 0.877695 Centerline is valid? [False, False] Translation: X:19.25, Y:0.07, Z:-2.79 [[ 9.99867565e-01 1.36670940e-02 8.83535321e-03 1.92485093e+01] [-1.39934326e-02 9.99179974e-01 3.79942677e-02 6.88681028e-02] [-8.30883676e-03 -3.81128729e-02 9.99238896e-01 -2.78747014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48719347 meters Centerline goodness : 0.878696 Centerline is valid? [False, False] Translation: X:19.27, Y:0.06, Z:-2.79 [[ 9.99926534e-01 9.06304522e-03 8.04903589e-03 1.92710088e+01] [-9.35901649e-03 9.99251745e-01 3.75281191e-02 5.62031874e-02] [-7.70289411e-03 -3.76006931e-02 9.99263155e-01 -2.79046290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51719347 meters Centerline goodness : 0.878696 Centerline is valid? [False, False] Translation: X:19.27, Y:0.06, Z:-2.79 [[ 9.99926534e-01 9.06304522e-03 8.04903589e-03 1.92710088e+01] [-9.35901649e-03 9.99251745e-01 3.75281191e-02 5.62031874e-02] [-7.70289411e-03 -3.76006931e-02 9.99263155e-01 -2.79046290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54719347 meters Centerline goodness : 0.881112 Centerline is valid? [False, False] Translation: X:19.29, Y:0.05, Z:-2.79 [[ 9.99922891e-01 8.04110882e-03 9.46319955e-03 1.92914036e+01] [-8.42163743e-03 9.99128433e-01 4.08833818e-02 4.72309387e-02] [-9.12620402e-03 -4.09599249e-02 9.99119110e-01 -2.79307117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57719347 meters Centerline goodness : 0.879447 Centerline is valid? [False, False] Translation: X:19.32, Y:0.04, Z:-2.79 [[ 9.99950982e-01 6.73796950e-03 7.25495343e-03 1.93181123e+01] [-6.97388519e-03 9.99431048e-01 3.29991668e-02 4.23565977e-02] [-7.02847833e-03 -3.30481445e-02 9.99429047e-01 -2.79083968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60719347 meters Centerline goodness : 0.877447 Centerline is valid? [False, False] Translation: X:19.32, Y:0.04, Z:-2.79 [[ 9.99966792e-01 3.86761737e-03 7.17331828e-03 1.93184110e+01] [-4.08951377e-03 9.99505378e-01 3.11813301e-02 3.74558540e-02] [-7.04917275e-03 -3.12096300e-02 9.99488003e-01 -2.79059872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63719347 meters Centerline goodness : 0.870879 Centerline is valid? [False, False] Translation: X:19.32, Y:0.03, Z:-2.79 [[ 9.99966341e-01 4.08607455e-03 7.11482027e-03 1.93186682e+01] [-4.31958364e-03 9.99442044e-01 3.31200980e-02 3.16587970e-02] [-6.97551933e-03 -3.31497163e-02 9.99426055e-01 -2.79004251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66719347 meters Centerline goodness : 0.880595 Centerline is valid? [False, False] Translation: X:19.32, Y:0.02, Z:-2.79 [[ 9.99971493e-01 2.65080154e-03 7.07013803e-03 1.93190145e+01] [-2.88694753e-03 9.99431119e-01 3.36021277e-02 2.07233803e-02] [-6.97704339e-03 -3.36215809e-02 9.99410281e-01 -2.78978210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69719347 meters Centerline goodness : 0.881057 Centerline is valid? [False, False] Translation: X:19.31, Y:0.02, Z:-2.79 [[ 9.99948767e-01 3.74382790e-03 9.40462837e-03 1.93098535e+01] [-3.99163331e-03 9.99641633e-01 2.64702198e-02 1.53664780e-02] [-9.30215812e-03 -2.65064035e-02 9.99605362e-01 -2.79186325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72719347 meters Centerline goodness : 0.881364 Centerline is valid? [False, False] Translation: X:19.31, Y:0.01, Z:-2.79 [[ 9.99959843e-01 2.62633888e-03 8.56823631e-03 1.93122813e+01] [-2.84681866e-03 9.99662494e-01 2.58223345e-02 9.26887026e-03] [-8.49752628e-03 -2.58456897e-02 9.99629828e-01 -2.79287268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75719347 meters Centerline goodness : 0.881309 Centerline is valid? [False, False] Translation: X:19.31, Y:0.00, Z:-2.79 [[ 9.99963368e-01 8.72583039e-04 8.51479670e-03 1.93125988e+01] [-1.08277022e-03 9.99694035e-01 2.47116290e-02 3.23520652e-03] [-8.49062852e-03 -2.47199433e-02 9.99658358e-01 -2.79298112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78719347 meters Centerline goodness : 0.886994 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.01, Z:-2.79 [[ 9.99960987e-01 1.00568721e-03 8.77565835e-03 1.93128754e+01] [-1.23386763e-03 9.99660271e-01 2.60349624e-02 -9.47164916e-03] [-8.74649398e-03 -2.60447747e-02 9.99622513e-01 -2.79369334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81719347 meters Centerline goodness : 0.875933 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.01, Z:-2.79 [[ 9.99960776e-01 -9.24351528e-04 8.80864228e-03 1.93128586e+01] [ 7.07852027e-04 9.99698363e-01 2.45495776e-02 -1.34746116e-02] [-8.82867771e-03 -2.45423794e-02 9.99659805e-01 -2.79357868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84719347 meters Centerline goodness : 0.887481 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.02, Z:-2.79 [[ 9.99956264e-01 -2.91725299e-03 8.88591749e-03 1.93125692e+01] [ 2.71234735e-03 9.99732131e-01 2.29850013e-02 -1.71716773e-02] [-8.95059029e-03 -2.29598943e-02 9.99696319e-01 -2.79319957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87719347 meters Centerline goodness : 0.882091 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.02, Z:-2.79 [[ 9.99946094e-01 -4.95936781e-03 9.12220146e-03 1.93120145e+01] [ 4.76236036e-03 9.99757659e-01 2.14928728e-02 -2.18539659e-02] [-9.22658183e-03 -2.14482710e-02 9.99727384e-01 -2.79282391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90719347 meters Centerline goodness : 0.885054 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.03, Z:-2.79 [[ 9.99931120e-01 -7.35333749e-03 9.14784714e-03 1.93117978e+01] [ 7.17121197e-03 9.99778537e-01 1.97850908e-02 -2.70661501e-02] [-9.29130768e-03 -1.97181268e-02 9.99762405e-01 -2.79236784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93719347 meters Centerline goodness : 0.883294 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.04, Z:-2.79 [[ 9.99895148e-01 -1.12522438e-02 9.11480974e-03 1.93117457e+01] [ 1.10911899e-02 9.99784795e-01 1.75313993e-02 -4.00181378e-02] [-9.31011576e-03 -1.74284670e-02 9.99804766e-01 -2.79162388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96719346999998 meters Centerline goodness : 0.884392 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.05, Z:-2.79 [[ 9.99855481e-01 -1.43806584e-02 9.06717628e-03 1.93117954e+01] [ 1.42389044e-02 9.99778335e-01 1.55091443e-02 -4.57023432e-02] [-9.28819812e-03 -1.53777963e-02 9.99838613e-01 -2.79112054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99719346999998 meters Centerline goodness : 0.883468 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.05, Z:-2.79 [[ 9.99805598e-01 -1.75445377e-02 8.99750980e-03 1.93118164e+01] [ 1.74224377e-02 9.99757427e-01 1.34738589e-02 -5.14489454e-02] [-9.23171988e-03 -1.33144810e-02 9.99868741e-01 -2.79049372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02719347 meters Centerline goodness : 0.888740 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.06, Z:-2.79 [[ 9.99766186e-01 -1.98764759e-02 8.51460870e-03 1.93132532e+01] [ 1.97667955e-02 9.99722966e-01 1.27775279e-02 -6.44000938e-02] [-8.76622209e-03 -1.26062338e-02 9.99882111e-01 -2.79051174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05719347 meters Centerline goodness : 0.892022 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.07, Z:-2.79 [[ 9.99725062e-01 -2.17733337e-02 8.70187035e-03 1.93131118e+01] [ 2.16731386e-02 9.99699572e-01 1.14472685e-02 -6.92654507e-02] [-8.94850127e-03 -1.12555243e-02 9.99896613e-01 -2.79043101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08719347 meters Centerline goodness : 0.890269 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.07, Z:-2.79 [[ 9.99840614e-01 -1.76525151e-02 2.67109545e-03 1.93128924e+01] [ 1.76503846e-02 9.99843884e-01 8.19110079e-04 -7.33680647e-02] [-2.68513781e-03 -7.71833662e-04 9.99996097e-01 -2.78944499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11719347 meters Centerline goodness : 0.890242 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.08, Z:-2.79 [[ 9.99862237e-01 -1.63837128e-02 2.66103196e-03 1.93132527e+01] [ 1.63759832e-02 9.99861696e-01 2.90101157e-03 -7.88476914e-02] [-2.70819327e-03 -2.85703490e-03 9.99992251e-01 -2.78974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14719347 meters Centerline goodness : 0.892014 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.09, Z:-2.79 [[ 9.99951723e-01 -9.61586936e-03 -2.02141595e-03 1.93219595e+01] [ 9.62664590e-03 9.99939131e-01 5.39082543e-03 -9.28006239e-02] [ 1.96945544e-03 -5.41002464e-03 9.99983426e-01 -2.78760634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17719347 meters Centerline goodness : 0.895242 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.10, Z:-2.79 [[ 9.99939229e-01 -1.09048778e-02 -1.61918406e-03 1.93205771e+01] [ 1.09124758e-02 9.99929126e-01 4.76024621e-03 -9.86134195e-02] [ 1.56715940e-03 -4.77762623e-03 9.99987359e-01 -2.78659742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20719347 meters Centerline goodness : 0.890192 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.10, Z:-2.79 [[ 9.99916986e-01 -1.28101859e-02 -1.38566745e-03 1.93197843e+01] [ 1.28154125e-02 9.99910539e-01 3.83122625e-03 -1.04842296e-01] [ 1.33646476e-03 -3.84866611e-03 9.99991701e-01 -2.78581244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23719347 meters Centerline goodness : 0.891649 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.11, Z:-2.79 [[ 9.99887705e-01 -1.49193431e-02 -1.41097859e-03 1.93200386e+01] [ 1.49237160e-02 9.99883701e-01 3.14117343e-03 -1.12317058e-01] [ 1.36395025e-03 -3.16187774e-03 9.99994071e-01 -2.78552176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26719347 meters Centerline goodness : 0.892340 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.12, Z:-2.79 [[ 9.99849332e-01 -1.72856213e-02 -1.58740264e-03 1.93206934e+01] [ 1.72895128e-02 9.99847471e-01 2.47137026e-03 -1.20379353e-01] [ 1.54444135e-03 -2.49844332e-03 9.99995686e-01 -2.78523381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29719347 meters Centerline goodness : 0.898336 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.14, Z:-2.78 [[ 9.99733405e-01 -2.30319802e-02 -1.62712005e-03 1.93212512e+01] [ 2.30374050e-02 9.99728830e-01 3.39785639e-03 -1.38490466e-01] [ 1.54841946e-03 -3.43443516e-03 9.99992904e-01 -2.78226999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32719347 meters Centerline goodness : 0.893208 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.15, Z:-2.78 [[ 9.99642166e-01 -2.66731086e-02 -2.02105766e-03 1.93226491e+01] [ 2.66758382e-02 9.99643244e-01 1.33590578e-03 -1.46910256e-01] [ 1.98470387e-03 -1.38934115e-03 9.99997065e-01 -2.78229050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35719347 meters Centerline goodness : 0.895779 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.16, Z:-2.78 [[ 9.99555016e-01 -2.97340871e-02 -2.37775586e-03 1.93233361e+01] [ 2.97343770e-02 9.99557832e-01 8.66797773e-05 -1.55944227e-01] [ 2.37412715e-03 -1.57342296e-04 9.99997169e-01 -2.78136789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38719347 meters Centerline goodness : 0.896000 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.16, Z:-2.78 [[ 9.99464283e-01 -3.26281835e-02 -2.55914423e-03 1.93240450e+01] [ 3.26252710e-02 9.99466967e-01 -1.17170272e-03 -1.64000474e-01] [ 2.59601065e-03 1.08758224e-03 9.99996039e-01 -2.78097051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41719347 meters Centerline goodness : 0.900845 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.18, Z:-2.78 [[ 9.99326176e-01 -3.65592401e-02 -3.25825556e-03 1.93273893e+01] [ 3.65516714e-02 9.99328994e-01 -2.35299387e-03 -1.77530776e-01] [ 3.34209292e-03 2.23231368e-03 9.99991924e-01 -2.78244097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44719347 meters Centerline goodness : 0.902958 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.18, Z:-2.78 [[ 9.99307924e-01 -3.69886878e-02 -3.93833147e-03 1.93304191e+01] [ 3.69837594e-02 9.99314999e-01 -1.31696958e-03 -1.83955084e-01] [ 3.98434669e-03 1.17040384e-03 9.99991378e-01 -2.78411491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47719347 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.19, Z:-2.79 [[ 9.99235401e-01 -3.88241497e-02 -4.61497997e-03 1.93333991e+01] [ 3.88148317e-02 9.99244231e-01 -2.09179900e-03 -1.89819622e-01] [ 4.69270443e-03 1.91106994e-03 9.99987163e-01 -2.78570492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50719347 meters Centerline goodness : 0.903241 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.20, Z:-2.79 [[ 9.99125939e-01 -4.14959838e-02 -5.04392486e-03 1.93355417e+01] [ 4.14775118e-02 9.99132537e-01 -3.71330250e-03 -1.95451744e-01] [ 5.19363659e-03 3.50084740e-03 9.99980385e-01 -2.78675868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53719347 meters Centerline goodness : 0.907120 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.21, Z:-2.79 [[ 9.99036340e-01 -4.36230215e-02 -4.83976607e-03 1.93351215e+01] [ 4.36067195e-02 9.99042906e-01 -3.42429310e-03 -2.07311587e-01] [ 4.98451197e-03 3.20994693e-03 9.99982425e-01 -2.78521767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56719347 meters Centerline goodness : 0.904102 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.21, Z:-2.79 [[ 9.98951174e-01 -4.54171529e-02 -5.81677719e-03 1.93378196e+01] [ 4.53911389e-02 9.98959025e-01 -4.52885389e-03 -2.11844730e-01] [ 6.01640972e-03 4.26007377e-03 9.99972827e-01 -2.78589930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59719347 meters Centerline goodness : 0.902823 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.22, Z:-2.79 [[ 9.98902267e-01 -4.63768288e-02 -6.59177129e-03 1.93406964e+01] [ 4.63476821e-02 9.98915198e-01 -4.50779408e-03 -2.16008601e-01] [ 6.79367772e-03 4.19733240e-03 9.99968114e-01 -2.78712036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62719347 meters Centerline goodness : 0.906666 Centerline is valid? [False, False] Translation: X:19.34, Y:-0.22, Z:-2.79 [[ 9.98725972e-01 -4.99265186e-02 -7.33313317e-03 1.93445847e+01] [ 4.98770276e-02 9.98732329e-01 -6.78362606e-03 -2.22157567e-01] [ 7.66252000e-03 6.40922864e-03 9.99950103e-01 -2.78940478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65719347 meters Centerline goodness : 0.903641 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.23, Z:-2.79 [[ 9.98717895e-01 -5.00361874e-02 -7.67758969e-03 1.93457179e+01] [ 4.99909398e-02 9.98731790e-01 -5.97646022e-03 -2.25241828e-01] [ 7.96689217e-03 5.58498785e-03 9.99952667e-01 -2.78969581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68719347 meters Centerline goodness : 0.905581 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98770021e-01 -4.91023837e-02 -6.88483528e-03 1.93653798e+01] [ 4.90412132e-02 9.98758087e-01 -8.78877229e-03 -2.26368156e-01] [ 7.30783459e-03 8.44032161e-03 9.99937676e-01 -2.79063748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71719346999998 meters Centerline goodness : 0.907358 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98763644e-01 -4.91579009e-02 -7.39488126e-03 1.93664191e+01] [ 4.90979269e-02 9.98761252e-01 -8.08426906e-03 -2.28497627e-01] [ 7.78312656e-03 7.71120069e-03 9.99939978e-01 -2.79037791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74719346999998 meters Centerline goodness : 0.906106 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98754603e-01 -4.92580481e-02 -7.93023469e-03 1.93675702e+01] [ 4.91976312e-02 9.98759831e-01 -7.64153393e-03 -2.30008165e-01] [ 8.29680690e-03 7.24186843e-03 9.99939357e-01 -2.79028242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77719347 meters Centerline goodness : 0.905464 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98748704e-01 -4.92541042e-02 -8.66365334e-03 1.93693952e+01] [ 4.91921957e-02 9.98763239e-01 -7.21946181e-03 -2.32425007e-01] [ 9.00852660e-03 6.78424400e-03 9.99936408e-01 -2.79077446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80719347 meters Centerline goodness : 0.905575 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98744844e-01 -4.92327018e-02 -9.21288356e-03 1.93707342e+01] [ 4.91692645e-02 9.98765999e-01 -6.99012538e-03 -2.33157945e-01] [ 9.54565762e-03 6.52836098e-03 9.99933128e-01 -2.79113854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83719347 meters Centerline goodness : 0.903085 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.23, Z:-2.79 [[ 9.98709354e-01 -4.98047162e-02 -9.95575546e-03 1.93730116e+01] [ 4.97311587e-02 9.98734447e-01 -7.50443638e-03 -2.32886342e-01] [ 1.03169122e-02 6.99963955e-03 9.99922280e-01 -2.79225818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86719347 meters Centerline goodness : 0.902591 Centerline is valid? [False, False] Translation: X:19.39, Y:-0.23, Z:-2.79 [[ 9.98779950e-01 -4.80661224e-02 -1.13251773e-02 1.93937623e+01] [ 4.79406390e-02 9.98788478e-01 -1.11027185e-02 -2.31580882e-01] [ 1.18451212e-02 1.05462364e-02 9.99874227e-01 -2.79373281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89719347 meters Centerline goodness : 0.901764 Centerline is valid? [False, False] Translation: X:19.40, Y:-0.23, Z:-2.79 [[ 9.98721560e-01 -4.91520382e-02 -1.18035079e-02 1.93950207e+01] [ 4.90162611e-02 9.98731433e-01 -1.15295279e-02 -2.31021712e-01] [ 1.23552341e-02 1.09362242e-02 9.99863864e-01 -2.79375947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92719347 meters Centerline goodness : 0.905882 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.23, Z:-2.79 [[ 9.98778800e-01 -4.87455497e-02 -8.04865266e-03 1.94117909e+01] [ 4.86290949e-02 9.98717648e-01 -1.40808341e-02 -2.30979461e-01] [ 8.72470945e-03 1.36722399e-02 9.99868466e-01 -2.79312131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95719347 meters Centerline goodness : 0.909330 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.23, Z:-2.79 [[ 9.98747586e-01 -4.93150958e-02 -8.44282971e-03 1.94120467e+01] [ 4.91975484e-02 9.98696386e-01 -1.36062441e-02 -2.32788104e-01] [ 9.10281675e-03 1.31738369e-02 9.99871786e-01 -2.79177630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98719347 meters Centerline goodness : 0.903254 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.23, Z:-2.79 [[ 9.98699332e-01 -5.02239179e-02 -8.78649320e-03 1.94125259e+01] [ 5.01031088e-02 9.98653238e-01 -1.34680448e-02 -2.34227621e-01] [ 9.45107787e-03 1.30102967e-02 9.99870696e-01 -2.79071431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01719347 meters Centerline goodness : 0.904630 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.23, Z:-2.79 [[ 9.98375137e-01 -5.67148273e-02 -5.52396418e-03 1.94307381e+01] [ 5.65621151e-02 9.98093325e-01 -2.47071043e-02 -2.29620761e-01] [ 6.91469093e-03 2.43545115e-02 9.99679471e-01 -2.79188000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04719347 meters Centerline goodness : 0.905661 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.23, Z:-2.79 [[ 9.98267235e-01 -5.85102230e-02 -6.25143435e-03 1.94331602e+01] [ 5.83266403e-02 9.97949866e-01 -2.63451862e-02 -2.27564658e-01] [ 7.78008079e-03 2.59349110e-02 9.99633358e-01 -2.79279549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07719347 meters Centerline goodness : 0.905660 Centerline is valid? [False, False] Translation: X:19.44, Y:-0.23, Z:-2.79 [[ 9.98353647e-01 -5.69394844e-02 -6.92029517e-03 1.94354638e+01] [ 5.67572408e-02 9.98095471e-01 -2.41670585e-02 -2.26358462e-01] [ 8.28317512e-03 2.37344941e-02 9.99683981e-01 -2.79387905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10719347 meters Centerline goodness : 0.899998 Centerline is valid? [False, False] Translation: X:19.46, Y:-0.22, Z:-2.80 [[ 9.98481399e-01 -5.45375745e-02 -7.78126949e-03 1.94579802e+01] [ 5.43088083e-02 9.98156899e-01 -2.70805780e-02 -2.16645946e-01] [ 9.24383686e-03 2.66168619e-02 9.99602968e-01 -2.79629591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13719347 meters Centerline goodness : 0.897726 Centerline is valid? [False, False] Translation: X:19.46, Y:-0.21, Z:-2.80 [[ 9.98625205e-01 -5.17176047e-02 -8.54336333e-03 1.94595860e+01] [ 5.14939997e-02 9.98370410e-01 -2.45945598e-02 -2.12779237e-01] [ 9.80141287e-03 2.41208154e-02 9.99661002e-01 -2.79682277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16719347 meters Centerline goodness : 0.897555 Centerline is valid? [False, False] Translation: X:19.48, Y:-0.21, Z:-2.80 [[ 9.98848166e-01 -4.72523432e-02 -8.34004713e-03 1.94797607e+01] [ 4.70277405e-02 9.98572216e-01 -2.53361489e-02 -2.08328163e-01] [ 9.52533175e-03 2.49147523e-02 9.99644198e-01 -2.79812068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19719347 meters Centerline goodness : 0.895360 Centerline is valid? [False, False] Translation: X:19.50, Y:-0.20, Z:-2.80 [[ 9.99042951e-01 -4.30407650e-02 -7.78942581e-03 1.94999010e+01] [ 4.28139476e-02 9.98711167e-01 -2.72574826e-02 -2.03038218e-01] [ 8.95256944e-03 2.68978998e-02 9.99598096e-01 -2.80011768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22719347 meters Centerline goodness : 0.897466 Centerline is valid? [False, False] Translation: X:19.52, Y:-0.19, Z:-2.80 [[ 9.99408155e-01 -3.34617493e-02 -7.97817287e-03 1.95200184e+01] [ 3.32411577e-02 9.99100175e-01 -2.63413200e-02 -1.91873792e-01] [ 8.85242056e-03 2.60605263e-02 9.99621170e-01 -2.80308026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25719347 meters Centerline goodness : 0.894120 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.19, Z:-2.81 [[ 9.99590499e-01 -2.76044518e-02 -7.53853618e-03 1.95403278e+01] [ 2.73910674e-02 9.99258014e-01 -2.70767408e-02 -1.85804763e-01] [ 8.28038128e-03 2.68591643e-02 9.99604932e-01 -2.80514993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28719347 meters Centerline goodness : 0.892001 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.18, Z:-2.81 [[ 9.99743267e-01 -2.19246626e-02 -5.71919630e-03 1.95592696e+01] [ 2.17582406e-02 9.99379535e-01 -2.76969910e-02 -1.80386724e-01] [ 6.32289492e-03 2.75654406e-02 9.99600004e-01 -2.80699027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31719347 meters Centerline goodness : 0.892218 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.18, Z:-2.81 [[ 9.99865183e-01 -1.61604011e-02 -2.90804172e-03 1.95771266e+01] [ 1.60741953e-02 9.99490903e-01 -2.75600136e-02 -1.76051400e-01] [ 3.35194212e-03 2.75095536e-02 9.99615921e-01 -2.80798179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34719347 meters Centerline goodness : 0.889039 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.17, Z:-2.81 [[ 9.99943738e-01 -1.06072709e-02 -7.74167637e-05 1.95953446e+01] [ 1.06011967e-02 9.99570522e-01 -2.73200534e-02 -1.71588307e-01] [ 3.67174723e-04 2.73176956e-02 9.99626735e-01 -2.80903007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37719347 meters Centerline goodness : 0.889947 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.16, Z:-2.81 [[ 9.99984278e-01 -4.68674754e-03 3.07869735e-03 1.96132715e+01] [ 4.77205599e-03 9.99587730e-01 -2.83125058e-02 -1.62106195e-01] [-2.94473452e-03 2.83267524e-02 9.99594380e-01 -2.81100552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40719347 meters Centerline goodness : 0.888137 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.16, Z:-2.81 [[ 9.99978229e-01 -1.41117122e-03 6.44600473e-03 1.96306260e+01] [ 1.60320229e-03 9.99552107e-01 -2.98833507e-02 -1.59481030e-01] [-6.40094708e-03 2.98930343e-02 9.99532608e-01 -2.81157016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43719347 meters Centerline goodness : 0.887235 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.16, Z:-2.81 [[ 9.99944796e-01 2.36149684e-03 1.02385199e-02 1.96466732e+01] [-2.03752316e-03 9.99500464e-01 -3.15383974e-02 -1.55180159e-01] [-1.03078832e-02 3.15157951e-02 9.99450100e-01 -2.81132168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46719346999998 meters Centerline goodness : 0.887235 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.16, Z:-2.81 [[ 9.99944796e-01 2.36149684e-03 1.02385199e-02 1.96466732e+01] [-2.03752316e-03 9.99500464e-01 -3.15383974e-02 -1.55180159e-01] [-1.03078832e-02 3.15157951e-02 9.99450100e-01 -2.81132168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49719346999998 meters Centerline goodness : 0.889275 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.15, Z:-2.81 [[ 9.99936692e-01 5.68819277e-03 9.70853290e-03 1.96474488e+01] [-5.41546940e-03 9.99596331e-01 -2.78899057e-02 -1.54444753e-01] [-9.86325703e-03 2.78355638e-02 9.99563854e-01 -2.81063601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52719347 meters Centerline goodness : 0.891202 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.15, Z:-2.81 [[ 9.99920588e-01 8.58443380e-03 9.22632889e-03 1.96489138e+01] [-8.35288316e-03 9.99656323e-01 -2.48488520e-02 -1.52894705e-01] [-9.43647134e-03 2.47698123e-02 9.99648643e-01 -2.81105786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55719347 meters Centerline goodness : 0.889563 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.15, Z:-2.81 [[ 9.99904754e-01 1.09753727e-02 8.36808963e-03 1.96516526e+01] [-1.07865120e-02 9.99693362e-01 -2.22897486e-02 -1.51228356e-01] [-8.61016195e-03 2.21973631e-02 9.99716531e-01 -2.81223585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58719347 meters Centerline goodness : 0.889373 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.15, Z:-2.82 [[ 9.99888573e-01 1.12263497e-02 9.83926662e-03 1.96713071e+01] [-1.09446084e-02 9.99541393e-01 -2.82350633e-02 -1.47732872e-01] [-1.01517310e-02 2.81242302e-02 9.99552885e-01 -2.81515316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61719347 meters Centerline goodness : 0.891251 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.15, Z:-2.82 [[ 9.99865816e-01 1.36180896e-02 9.10484163e-03 1.96739192e+01] [-1.33805078e-02 9.99581058e-01 -2.56645914e-02 -1.46877094e-01] [-9.45052993e-03 2.55393202e-02 9.99629147e-01 -2.81646685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64719347 meters Centerline goodness : 0.891233 Centerline is valid? [False, False] Translation: X:19.69, Y:-0.14, Z:-2.82 [[ 9.99863391e-01 1.26846079e-02 1.05971952e-02 1.96934858e+01] [-1.23392187e-02 9.99410236e-01 -3.20456504e-02 -1.44824011e-01] [-1.09974319e-02 3.19105115e-02 9.99430226e-01 -2.81854835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67719347 meters Centerline goodness : 0.890974 Centerline is valid? [False, False] Translation: X:19.69, Y:-0.15, Z:-2.82 [[ 9.99871305e-01 1.24329366e-02 1.01388007e-02 1.96945573e+01] [-1.21024434e-02 9.99413588e-01 -3.20313916e-02 -1.45564867e-01] [-1.05310994e-02 3.19045651e-02 9.99435438e-01 -2.81875223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70719347 meters Centerline goodness : 0.891399 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99880763e-01 1.20600055e-02 9.64452184e-03 1.96955769e+01] [-1.17454356e-02 9.99417777e-01 -3.20336119e-02 -1.46281786e-01] [-1.00252321e-02 3.19165132e-02 9.99440259e-01 -2.81872691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73719347 meters Centerline goodness : 0.889981 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99890977e-01 1.15555074e-02 9.19258842e-03 1.96963813e+01] [-1.12551863e-02 9.99422031e-01 -3.20768707e-02 -1.46543871e-01] [-9.55793990e-03 3.19699093e-02 9.99443130e-01 -2.81851357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76719347 meters Centerline goodness : 0.889847 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99904827e-01 1.08397363e-02 8.53441578e-03 1.96981540e+01] [-1.05590225e-02 9.99423182e-01 -3.22770906e-02 -1.47273688e-01] [-8.87936812e-03 3.21839036e-02 9.99442521e-01 -2.81915096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79719347 meters Centerline goodness : 0.891026 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99925569e-01 9.49827222e-03 7.65765348e-03 1.97007920e+01] [-9.24165149e-03 9.99416647e-01 -3.28779246e-02 -1.48766119e-01] [-7.96546984e-03 3.28047080e-02 9.99430039e-01 -2.82031729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82719347 meters Centerline goodness : 0.890579 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99941365e-01 8.38601073e-03 6.85132114e-03 1.97029297e+01] [-8.15573637e-03 9.99422943e-01 -3.29736938e-02 -1.51335484e-01] [-7.12388529e-03 3.29158828e-02 9.99432737e-01 -2.82098586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85719347 meters Centerline goodness : 0.891218 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.15, Z:-2.82 [[ 9.99953351e-01 7.24391718e-03 6.38923314e-03 1.97044433e+01] [-7.02899214e-03 9.99429220e-01 -3.30428159e-02 -1.54080226e-01] [-6.62494572e-03 3.29963646e-02 9.99433515e-01 -2.82160148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88719347 meters Centerline goodness : 0.895929 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.16, Z:-2.82 [[ 9.99952964e-01 -1.26600036e-03 9.61596938e-03 1.97018570e+01] [ 1.48368088e-03 9.99742035e-01 -2.26641031e-02 -1.60492799e-01] [-9.58479603e-03 2.26773041e-02 9.99696890e-01 -2.82095808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91719347 meters Centerline goodness : 0.897275 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.16, Z:-2.82 [[ 9.99958373e-01 -1.99699216e-03 8.90306458e-03 1.97035045e+01] [ 2.19768538e-03 9.99742408e-01 -2.25895412e-02 -1.62054983e-01] [-8.85566009e-03 2.26081670e-02 9.99705181e-01 -2.82122603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94719347 meters Centerline goodness : 0.898564 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.16, Z:-2.82 [[ 9.99961111e-01 -2.26169876e-03 8.52416169e-03 1.97044635e+01] [ 2.45233054e-03 9.99745632e-01 -2.24200012e-02 -1.62813529e-01] [-8.47128613e-03 2.24400333e-02 9.99712300e-01 -2.82142799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97719347 meters Centerline goodness : 0.897839 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.16, Z:-2.82 [[ 9.99969896e-01 2.86569278e-04 7.75409317e-03 1.97066633e+01] [-1.37811743e-04 9.99816073e-01 -1.91781259e-02 -1.63975786e-01] [-7.75816285e-03 1.91764800e-02 9.99786014e-01 -2.82212892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00719347 meters Centerline goodness : 0.898038 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.82 [[ 9.99961049e-01 3.59117840e-03 8.06249812e-03 1.97272645e+01] [-3.43738178e-03 9.99813403e-01 -1.90090471e-02 -1.64808677e-01] [-8.12925856e-03 1.89805928e-02 9.99786803e-01 -2.82321442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03719347 meters Centerline goodness : 0.900953 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.82 [[ 9.99959525e-01 5.42304428e-03 7.17902630e-03 1.97302071e+01] [-5.29959736e-03 9.99839666e-01 -1.71042586e-02 -1.64740210e-01] [-7.27063241e-03 1.70655204e-02 9.99827938e-01 -2.82468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06719347 meters Centerline goodness : 0.898154 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.83 [[ 9.99945688e-01 8.17251356e-03 6.46763018e-03 1.97326349e+01] [-8.07974875e-03 9.99865941e-01 -1.42413888e-02 -1.64159128e-01] [-6.58315108e-03 1.41883585e-02 9.99877669e-01 -2.82584018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09719347 meters Centerline goodness : 0.897093 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.16, Z:-2.83 [[ 9.99908501e-01 1.20764087e-02 6.09514452e-03 1.97338054e+01] [-1.20062892e-02 9.99862792e-01 -1.14125513e-02 -1.60774400e-01] [-6.23213085e-03 1.13383269e-02 9.99916298e-01 -2.82640798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12719347 meters Centerline goodness : 0.898671 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.16, Z:-2.83 [[ 9.99872370e-01 1.32517932e-02 8.92379025e-03 1.97514701e+01] [-1.30949951e-02 9.99762752e-01 -1.74057729e-02 -1.57146448e-01] [-9.15233080e-03 1.72866944e-02 9.99808684e-01 -2.82938434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15719347 meters Centerline goodness : 0.895946 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.16, Z:-2.83 [[ 9.99852979e-01 1.50047576e-02 8.29925953e-03 1.97539133e+01] [-1.48748871e-02 9.99769297e-01 -1.54948509e-02 -1.56617236e-01] [-8.52984135e-03 1.53691223e-02 9.99845504e-01 -2.83066263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18719347 meters Centerline goodness : 0.896485 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.83 [[ 9.99833219e-01 1.65778414e-02 7.66218580e-03 1.97563183e+01] [-1.64727422e-02 9.99772063e-01 -1.35820117e-02 -1.56330175e-01] [-7.88559974e-03 1.34535293e-02 9.99878403e-01 -2.83183130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21719346999998 meters Centerline goodness : 0.896810 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.83 [[ 9.99879368e-01 1.38007875e-02 7.12660374e-03 1.97584669e+01] [-1.36867068e-02 9.99781244e-01 -1.58157761e-02 -1.55444953e-01] [-7.34331491e-03 1.57163285e-02 9.99849525e-01 -2.83299461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24719346999998 meters Centerline goodness : 0.900685 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.15, Z:-2.83 [[ 9.99934205e-01 9.25894127e-03 6.77180216e-03 1.97593287e+01] [-9.12010658e-03 9.99753286e-01 -2.02531663e-02 -1.54894139e-01] [-6.95765434e-03 2.01900742e-02 9.99771950e-01 -2.83331187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27719347 meters Centerline goodness : 0.897789 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.83 [[ 9.99978133e-01 2.37227278e-03 6.17298603e-03 1.97615438e+01] [-2.21083412e-03 9.99658740e-01 -2.60291288e-02 -1.55573702e-01] [-6.23262763e-03 2.60149122e-02 9.99642125e-01 -2.83431079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30719347 meters Centerline goodness : 0.899811 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.16, Z:-2.84 [[ 9.99985342e-01 2.24057918e-04 5.40972648e-03 1.97642426e+01] [-7.57036594e-05 9.99624320e-01 -2.74082607e-02 -1.56278928e-01] [-5.41383520e-03 2.74074495e-02 9.99609685e-01 -2.83567731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33719347 meters Centerline goodness : 0.901119 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.16, Z:-2.84 [[ 9.99987520e-01 -1.76426868e-03 4.67402528e-03 1.97669456e+01] [ 1.89816874e-03 9.99583395e-01 -2.87998821e-02 -1.56790155e-01] [-4.62126732e-03 2.88083948e-02 9.99574270e-01 -2.83714940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36719347 meters Centerline goodness : 0.902889 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.16, Z:-2.84 [[ 9.99987554e-01 -2.59761980e-03 4.25962088e-03 1.97683798e+01] [ 2.72112430e-03 9.99568439e-01 -2.92494739e-02 -1.56857319e-01] [-4.18180358e-03 2.92607008e-02 9.99563066e-01 -2.83786892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39719347 meters Centerline goodness : 0.905663 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.15, Z:-2.84 [[ 9.99985658e-01 -3.72380598e-03 3.84917091e-03 1.97699172e+01] [ 3.84054512e-03 9.99518818e-01 -3.07795872e-02 -1.53180680e-01] [-3.73270154e-03 3.07939287e-02 9.99518785e-01 -2.83877904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42719347 meters Centerline goodness : 0.900442 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.15, Z:-2.84 [[ 9.99993990e-01 -5.62837090e-04 3.42110952e-03 1.97708642e+01] [ 6.55704259e-04 9.99629657e-01 -2.72051128e-02 -1.52681884e-01] [-3.40453049e-03 2.72071925e-02 9.99624018e-01 -2.83872515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45719347 meters Centerline goodness : 0.901891 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.15, Z:-2.84 [[ 9.99994570e-01 1.90320289e-03 2.69042567e-03 1.97729899e+01] [-1.83665066e-03 9.99697495e-01 -2.45264069e-02 -1.51343500e-01] [-2.73629053e-03 2.45213323e-02 9.99695562e-01 -2.83946583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48719347 meters Centerline goodness : 0.901377 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.15, Z:-2.84 [[ 9.99988945e-01 4.28637412e-03 1.93335717e-03 1.97752429e+01] [-4.24258294e-03 9.99746486e-01 -2.21125356e-02 -1.49316052e-01] [-2.02764963e-03 2.21040887e-02 9.99753619e-01 -2.84026744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51719347 meters Centerline goodness : 0.903398 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.15, Z:-2.84 [[ 9.99978673e-01 6.42568781e-03 1.16818507e-03 1.97777446e+01] [-6.40116363e-03 9.99781335e-01 -1.99074784e-02 -1.47022733e-01] [-1.29584887e-03 1.98995761e-02 9.99801144e-01 -2.84136045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54719347 meters Centerline goodness : 0.899673 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.14, Z:-2.84 [[ 9.99971026e-01 7.61203611e-03 -6.02074529e-05 1.97816595e+01] [-7.61177360e-03 9.99783281e-01 -1.93765860e-02 -1.39965064e-01] [-8.73008673e-05 1.93764828e-02 9.99812255e-01 -2.84326190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57719347 meters Centerline goodness : 0.902929 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.14, Z:-2.85 [[ 9.99957168e-01 9.19913342e-03 -1.01921755e-03 1.97852345e+01] [-9.21574289e-03 9.99800738e-01 -1.77074766e-02 -1.36989329e-01] [ 8.56121016e-04 1.77161110e-02 9.99842691e-01 -2.84522875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60719347 meters Centerline goodness : 0.901362 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.13, Z:-2.85 [[ 9.99936574e-01 1.11161006e-02 -1.81089712e-03 1.97880476e+01] [-1.11432094e-02 9.99814353e-01 -1.57190731e-02 -1.34597422e-01] [ 1.63582613e-03 1.57382553e-02 9.99874808e-01 -2.84660585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63719347 meters Centerline goodness : 0.900998 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.13, Z:-2.85 [[ 9.99918323e-01 1.25203851e-02 -2.56651731e-03 1.97909047e+01] [-1.25560034e-02 9.99817958e-01 -1.43665325e-02 -1.32367593e-01] [ 2.38617558e-03 1.43975843e-02 9.99893502e-01 -2.84809687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66719347 meters Centerline goodness : 0.897906 Centerline is valid? [False, False] Translation: X:19.80, Y:-0.12, Z:-2.85 [[ 9.99879087e-01 1.53130056e-02 2.70628937e-03 1.98046378e+01] [-1.52575269e-02 9.99694363e-01 -1.94522333e-02 -1.24233866e-01] [-3.00333439e-03 1.94085900e-02 9.99807125e-01 -2.85039722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69719347 meters Centerline goodness : 0.900854 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.12, Z:-2.85 [[ 9.99827585e-01 1.84117272e-02 2.41021045e-03 1.98057088e+01] [-1.83679035e-02 9.99685197e-01 -1.70917041e-02 -1.19572895e-01] [-2.72413950e-03 1.70444867e-02 9.99851021e-01 -2.85066590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72719347 meters Centerline goodness : 0.898488 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.12, Z:-2.85 [[ 9.99719294e-01 2.36266071e-02 1.76552145e-03 1.98084468e+01] [-2.36038281e-02 9.99649753e-01 -1.19678815e-02 -1.15649126e-01] [-2.04766352e-03 1.19228490e-02 9.99926824e-01 -2.85186102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75719347 meters Centerline goodness : 0.896243 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.11, Z:-2.85 [[ 9.99639618e-01 2.68052417e-02 1.45381679e-03 1.98094953e+01] [-2.67900938e-02 9.99595043e-01 -9.59382610e-03 -1.11082298e-01] [-1.71039289e-03 9.55142077e-03 9.99952921e-01 -2.85198603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78719347 meters Centerline goodness : 0.896779 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.10, Z:-2.85 [[ 9.99551810e-01 2.99138360e-02 1.15827261e-03 1.98098174e+01] [-2.99010568e-02 9.99504708e-01 -9.81154063e-03 -1.02860930e-01] [-1.45119974e-03 9.77250962e-03 9.99951195e-01 -2.84995110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81719347 meters Centerline goodness : 0.896827 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.10, Z:-2.85 [[ 9.99559057e-01 2.96899398e-02 4.46841170e-04 1.98111144e+01] [-2.96823957e-02 9.99486603e-01 -1.20617205e-02 -9.83266711e-02] [-8.04723520e-04 1.20431387e-02 9.99927155e-01 -2.84906047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84719347 meters Centerline goodness : 0.892368 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.10, Z:-2.85 [[ 9.99463733e-01 3.27396460e-02 6.01830470e-04 1.98108269e+01] [-3.27327132e-02 9.99421601e-01 -9.22132959e-03 -9.65327628e-02] [-9.03385438e-04 9.19668495e-03 9.99957302e-01 -2.84848014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87719347 meters Centerline goodness : 0.892216 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.09, Z:-2.85 [[ 9.99480572e-01 3.22265540e-02 -1.86570238e-04 1.98125958e+01] [-3.22266351e-02 9.99418695e-01 -1.11227749e-02 -9.26244879e-02] [-1.71986922e-04 1.11230100e-02 9.99938123e-01 -2.84832833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90719347 meters Centerline goodness : 0.890742 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.09, Z:-2.85 [[ 9.99510562e-01 3.12829908e-02 -1.04104746e-04 1.98124449e+01] [-3.12814023e-02 9.99413423e-01 -1.39385806e-02 -8.54243695e-02] [-3.31996809e-04 1.39350151e-02 9.99902848e-01 -2.84742120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93719347 meters Centerline goodness : 0.887765 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.08, Z:-2.85 [[ 9.99545842e-01 3.01284615e-02 -6.21486398e-04 1.98136872e+01] [-3.01345823e-02 9.99413923e-01 -1.62393564e-02 -8.08273271e-02] [ 1.31855334e-04 1.62507094e-02 9.99867940e-01 -2.84718607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96719346999998 meters Centerline goodness : 0.889010 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.08, Z:-2.85 [[ 9.99506538e-01 3.13945784e-02 -1.02994531e-03 1.98152430e+01] [-3.14065685e-02 9.99392397e-01 -1.51150518e-02 -7.76570528e-02] [ 5.54788831e-04 1.51399401e-02 9.99885231e-01 -2.84768668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99719346999998 meters Centerline goodness : 0.884031 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.07, Z:-2.85 [[ 9.99404378e-01 3.44939513e-02 -1.02769320e-03 1.98156672e+01] [-3.45047059e-02 9.99313012e-01 -1.35251686e-02 -7.22335241e-02] [ 5.60450683e-04 1.35525729e-02 9.99908003e-01 -2.84719074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02719347 meters Centerline goodness : 0.886711 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.07, Z:-2.85 [[ 9.99400427e-01 3.45776399e-02 -1.78126608e-03 1.98172211e+01] [-3.46006659e-02 9.99286750e-01 -1.51256564e-02 -6.82967191e-02] [ 1.25698609e-03 1.51782205e-02 9.99884014e-01 -2.84674750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05719347 meters Centerline goodness : 0.886701 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.07, Z:-2.85 [[ 9.99273458e-01 3.80572626e-02 -2.04940285e-03 1.98181883e+01] [-3.80797730e-02 9.99198060e-01 -1.23760717e-02 -6.61024084e-02] [ 1.57675994e-03 1.24451208e-02 9.99921313e-01 -2.84662262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08719347 meters Centerline goodness : 0.884113 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.06, Z:-2.85 [[ 9.99257094e-01 3.84298820e-02 -2.89900999e-03 1.98197329e+01] [-3.84672411e-02 9.99159344e-01 -1.41730925e-02 -6.16320403e-02] [ 2.35190265e-03 1.42740802e-02 9.99895354e-01 -2.84579495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11719347 meters Centerline goodness : 0.881702 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.06, Z:-2.85 [[ 9.99112962e-01 4.19785113e-02 -3.33084065e-03 1.98212130e+01] [-4.20134592e-02 9.99053971e-01 -1.12263772e-02 -5.97099010e-02] [ 2.85642298e-03 1.13563591e-02 9.99931435e-01 -2.84604663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14719347 meters Centerline goodness : 0.883864 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.98979392e-01 4.49266298e-02 -4.66602970e-03 1.98251971e+01] [-4.49686546e-02 9.98944828e-01 -9.33014540e-03 -5.64203612e-02] [ 4.24193425e-03 9.53044806e-03 9.99945587e-01 -2.84750063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17719347 meters Centerline goodness : 0.883337 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.98979883e-01 4.48830196e-02 -4.97077737e-03 1.98262872e+01] [-4.49278585e-02 9.98946856e-01 -9.30951137e-03 -5.61937621e-02] [ 4.54770344e-03 9.52334096e-03 9.99944311e-01 -2.84827481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20719347 meters Centerline goodness : 0.881762 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99173340e-01 4.02923308e-02 -5.40040494e-03 1.98268193e+01] [-4.03636346e-02 9.99089506e-01 -1.38179921e-02 -5.55336203e-02] [ 4.83872879e-03 1.40245493e-02 9.99889943e-01 -2.84824664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23719347 meters Centerline goodness : 0.878801 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99202291e-01 3.95571480e-02 -5.47852697e-03 1.98268323e+01] [-3.96299284e-02 9.99117979e-01 -1.38828494e-02 -5.64000669e-02] [ 4.92452887e-03 1.40888886e-02 9.99888620e-01 -2.84813520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26719347 meters Centerline goodness : 0.882705 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99228681e-01 3.88674093e-02 -5.60072288e-03 1.98269658e+01] [-3.89424581e-02 9.99143663e-01 -1.39795077e-02 -5.68987527e-02] [ 5.05257952e-03 1.41868310e-02 9.99886596e-01 -2.84808486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29719347 meters Centerline goodness : 0.881758 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99242064e-01 3.84746284e-02 -5.91608547e-03 1.98275606e+01] [-3.85541185e-02 9.99158899e-01 -1.39669340e-02 -5.75746987e-02] [ 5.37373685e-03 1.41844374e-02 9.99884956e-01 -2.84816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32719347 meters Centerline goodness : 0.881758 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99242064e-01 3.84746284e-02 -5.91608547e-03 1.98275606e+01] [-3.85541185e-02 9.99158899e-01 -1.39669340e-02 -5.75746987e-02] [ 5.37373685e-03 1.41844374e-02 9.99884956e-01 -2.84816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35719347 meters Centerline goodness : 0.877972 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99243598e-01 3.83858218e-02 -6.22581789e-03 1.98282484e+01] [-3.84693206e-02 9.99163133e-01 -1.38976705e-02 -5.77086529e-02] [ 5.68713421e-03 1.41266613e-02 9.99884040e-01 -2.84834621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38719347 meters Centerline goodness : 0.882248 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99238326e-01 3.84313864e-02 -6.76725652e-03 1.98289037e+01] [-3.85254156e-02 9.99154425e-01 -1.43606199e-02 -5.67127081e-02] [ 6.20963576e-03 1.46103931e-02 9.99873980e-01 -2.84758435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41719347 meters Centerline goodness : 0.881623 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.06, Z:-2.85 [[ 9.99224654e-01 3.86783757e-02 -7.35349844e-03 1.98294232e+01] [-3.87841652e-02 9.99137506e-01 -1.48335110e-02 -5.53799696e-02] [ 6.77341997e-03 1.51072092e-02 9.99862937e-01 -2.84639206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44719347 meters Centerline goodness : 0.881335 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99213475e-01 3.88348138e-02 -8.01799397e-03 1.98304380e+01] [-3.89551711e-02 9.99121602e-01 -1.54440800e-02 -5.38720038e-02] [ 7.41118301e-03 1.57442752e-02 9.99848585e-01 -2.84574225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47719347 meters Centerline goodness : 0.873077 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99074330e-01 4.22556231e-02 -8.05893164e-03 1.98311669e+01] [-4.23536273e-02 9.99025671e-01 -1.24048251e-02 -5.21800038e-02] [ 7.52690597e-03 1.27346673e-02 9.99890581e-01 -2.84601401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50719347 meters Centerline goodness : 0.874259 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99083824e-01 4.19302697e-02 -8.56529969e-03 1.98326954e+01] [-4.20437649e-02 9.99024146e-01 -1.35305857e-02 -4.94449958e-02] [ 7.98960010e-03 1.38783068e-02 9.99871771e-01 -2.84649077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53719347 meters Centerline goodness : 0.873732 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.98981472e-01 4.41747499e-02 -9.19841257e-03 1.98350196e+01] [-4.42737722e-02 9.98960460e-01 -1.08550956e-02 -4.91514066e-02] [ 8.70932931e-03 1.12512878e-02 9.99898773e-01 -2.84771331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56719347 meters Centerline goodness : 0.879502 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.98991247e-01 4.38531698e-02 -9.66371136e-03 1.98361991e+01] [-4.39634362e-02 9.98966839e-01 -1.15096152e-02 -4.77701285e-02] [ 9.14899408e-03 1.19228548e-02 9.99887064e-01 -2.84798365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59719347 meters Centerline goodness : 0.873786 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99014314e-01 4.32510664e-02 -9.98725889e-03 1.98367571e+01] [-4.33698449e-02 9.98987022e-01 -1.19994654e-02 -4.78325772e-02] [ 9.45815234e-03 1.24207836e-02 9.99878126e-01 -2.84782184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62719347 meters Centerline goodness : 0.871282 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99150620e-01 4.00740264e-02 -9.59741572e-03 1.98341489e+01] [-4.02199389e-02 9.99070216e-01 -1.55261218e-02 -4.74693805e-02] [ 8.96629798e-03 1.58989417e-02 9.99833401e-01 -2.84538577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65719347 meters Centerline goodness : 0.873269 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.05, Z:-2.85 [[ 9.99174857e-01 3.94047018e-02 -9.84253848e-03 1.98348699e+01] [-3.95559559e-02 9.99094370e-01 -1.56769331e-02 -4.81495780e-02] [ 9.21587991e-03 1.60533284e-02 9.99828664e-01 -2.84590603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68719347 meters Centerline goodness : 0.872797 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99366875e-01 3.28590308e-02 -1.36430916e-02 1.98357684e+01] [-3.29517279e-02 9.99434980e-01 -6.62610520e-03 -4.94104832e-02] [ 1.34176556e-02 7.07147349e-03 9.99884974e-01 -2.84613043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71719346999998 meters Centerline goodness : 0.870207 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99381190e-01 3.19886626e-02 -1.46274539e-02 1.98389004e+01] [-3.20931068e-02 9.99460635e-01 -6.96212851e-03 -4.94422451e-02] [ 1.43968552e-02 7.42726071e-03 9.99868775e-01 -2.84828609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74719346999998 meters Centerline goodness : 0.869167 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99385540e-01 3.16575168e-02 -1.50447268e-02 1.98398000e+01] [-3.17704342e-02 9.99468339e-01 -7.32660911e-03 -4.92834792e-02] [ 1.48047858e-02 7.80008470e-03 9.99859979e-01 -2.84834668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77719347 meters Centerline goodness : 0.867978 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99383550e-01 3.15328326e-02 -1.54337418e-02 1.98402454e+01] [-3.16470453e-02 9.99473082e-01 -7.21270698e-03 -5.02184389e-02] [ 1.51981724e-02 7.69669304e-03 9.99854878e-01 -2.84793501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80719347 meters Centerline goodness : 0.869787 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99381544e-01 3.15115589e-02 -1.56061517e-02 1.98400686e+01] [-3.16230124e-02 9.99475724e-01 -6.94705601e-03 -5.18921865e-02] [ 1.53790572e-02 7.43627308e-03 9.99854083e-01 -2.84722394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83719347 meters Centerline goodness : 0.864907 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.85 [[ 9.99367389e-01 3.17356435e-02 -1.60521053e-02 1.98401574e+01] [-3.18447299e-02 9.99471127e-01 -6.58637783e-03 -5.33232437e-02] [ 1.58345929e-02 7.09338618e-03 9.99849463e-01 -2.84608817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86719347 meters Centerline goodness : 0.868555 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99334259e-01 3.25836428e-02 -1.64117362e-02 1.98399087e+01] [-3.26941865e-02 9.99444182e-01 -6.51292755e-03 -5.35219929e-02] [ 1.61903993e-02 7.04515999e-03 9.99844106e-01 -2.84445069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89719347 meters Centerline goodness : 0.873281 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99314753e-01 3.29385528e-02 -1.68841987e-02 1.98409606e+01] [-3.30526234e-02 9.99432332e-01 -6.52205051e-03 -5.31281760e-02] [ 1.66597872e-02 7.07564835e-03 9.99836180e-01 -2.84450826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92719347 meters Centerline goodness : 0.871089 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99300902e-01 3.32688036e-02 -1.70555912e-02 1.98412337e+01] [-3.33862601e-02 9.99420408e-01 -6.64876238e-03 -5.16639500e-02] [ 1.68245095e-02 7.21353665e-03 9.99832436e-01 -2.84418274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95719347 meters Centerline goodness : 0.867310 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99294677e-01 3.32523937e-02 -1.74478549e-02 1.98421672e+01] [-3.33839240e-02 9.99415926e-01 -7.30208148e-03 -4.95066282e-02] [ 1.71948524e-02 7.87940901e-03 9.99821110e-01 -2.84415041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98719347 meters Centerline goodness : 0.864695 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.05, Z:-2.84 [[ 9.99268488e-01 3.36887799e-02 -1.80984761e-02 1.98436889e+01] [-3.38211586e-02 9.99402974e-01 -7.05866963e-03 -4.95621117e-02] [ 1.78498729e-02 7.66561756e-03 9.99811292e-01 -2.84453278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01719347 meters Centerline goodness : 0.866324 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99270451e-01 3.30111551e-02 -1.92049099e-02 1.98469206e+01] [-3.31500105e-02 9.99426172e-01 -6.95726386e-03 -5.22707935e-02] [ 1.89642223e-02 7.58883116e-03 9.99791362e-01 -2.84642241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04719347 meters Centerline goodness : 0.866435 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.06, Z:-2.85 [[ 9.99260485e-01 3.28602709e-02 -1.99671286e-02 1.98490398e+01] [-3.29852964e-02 9.99438038e-01 -5.96473498e-03 -5.61972727e-02] [ 1.97599050e-02 6.61894562e-03 9.99782844e-01 -2.84786557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07719347 meters Centerline goodness : 0.869696 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.06, Z:-2.85 [[ 9.99255164e-01 3.28805543e-02 -2.01986897e-02 1.98500992e+01] [-3.29888097e-02 9.99442964e-01 -5.04981902e-03 -5.85437513e-02] [ 2.00213974e-02 5.71238846e-03 9.99783233e-01 -2.84913114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10719347 meters Centerline goodness : 0.867748 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.06, Z:-2.85 [[ 9.99265954e-01 3.23677439e-02 -2.04910453e-02 1.98508906e+01] [-3.25032001e-02 9.99451698e-01 -6.31224952e-03 -5.57572329e-02] [ 2.02754967e-02 6.97364058e-03 9.99770110e-01 -2.84908327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13719347 meters Centerline goodness : 0.870839 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99152259e-01 3.56547035e-02 -2.05792280e-02 1.98511527e+01] [-3.57228791e-02 9.99357366e-01 -2.95466775e-03 -5.49298364e-02] [ 2.04606553e-02 3.68731224e-03 9.99783859e-01 -2.84868001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16719347 meters Centerline goodness : 0.869258 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99134279e-01 3.59346180e-02 -2.09617651e-02 1.98514996e+01] [-3.60265026e-02 9.99342740e-01 -4.02227798e-03 -5.23614826e-02] [ 2.08034488e-02 4.77397490e-03 9.99772187e-01 -2.84753603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19719347 meters Centerline goodness : 0.864418 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.85 [[ 9.99114617e-01 3.61973775e-02 -2.14413708e-02 1.98519456e+01] [-3.63130695e-02 9.99327799e-01 -5.03106404e-03 -5.00374864e-02] [ 2.12448465e-02 5.80521161e-03 9.99757449e-01 -2.84634428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22719347 meters Centerline goodness : 0.864467 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98943462e-01 4.06226723e-02 -2.14885692e-02 1.98511200e+01] [-4.06702475e-02 9.99171035e-01 -1.78142789e-03 -4.88240064e-02] [ 2.13983895e-02 2.65349117e-03 9.99767507e-01 -2.84417589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25719347 meters Centerline goodness : 0.868932 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98923694e-01 4.08413666e-02 -2.19871914e-02 1.98521697e+01] [-4.09030191e-02 9.99160331e-01 -2.36144864e-03 -4.73355557e-02] [ 2.18722847e-02 3.25824951e-03 9.99755464e-01 -2.84402325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28719347 meters Centerline goodness : 0.865389 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98902935e-01 4.10601284e-02 -2.25164779e-02 1.98534698e+01] [-4.11345819e-02 9.99149541e-01 -2.85329486e-03 -4.59733244e-02] [ 2.23801719e-02 3.77637051e-03 9.99742400e-01 -2.84414985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31719347 meters Centerline goodness : 0.867930 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.05, Z:-2.84 [[ 9.98892852e-01 4.11862418e-02 -2.27324451e-02 1.98540892e+01] [-4.12653017e-02 9.99143662e-01 -3.01957667e-03 -4.55473617e-02] [ 2.25886135e-02 3.95429476e-03 9.99737024e-01 -2.84431510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34719347 meters Centerline goodness : 0.870590 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.05, Z:-2.85 [[ 9.98869306e-01 4.13534179e-02 -2.34521906e-02 1.98562401e+01] [-4.14083421e-02 9.99140574e-01 -1.86098954e-03 -4.87478052e-02] [ 2.33550769e-02 2.83000166e-03 9.99723227e-01 -2.84598665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37719347 meters Centerline goodness : 0.868550 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.05, Z:-2.85 [[ 9.99007822e-01 3.74872970e-02 -2.40431857e-02 1.98574331e+01] [-3.76362574e-02 9.99274829e-01 -5.77307658e-03 -4.91907201e-02] [ 2.38093332e-02 6.67224418e-03 9.99694252e-01 -2.84654662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40719347 meters Centerline goodness : 0.871820 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.05, Z:-2.85 [[ 9.99028313e-01 3.67675763e-02 -2.43017708e-02 1.98579586e+01] [-3.69026971e-02 9.99305670e-01 -5.13508946e-03 -5.21820231e-02] [ 2.40960926e-02 6.02690065e-03 9.99691480e-01 -2.84698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43719347 meters Centerline goodness : 0.872134 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.85 [[ 9.99194524e-01 3.23995341e-02 -2.36764508e-02 1.98553559e+01] [-3.25773209e-02 9.99443556e-01 -7.16218194e-03 -5.73716464e-02] [ 2.34312248e-02 7.92772831e-03 9.99694018e-01 -2.84542114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46719346999998 meters Centerline goodness : 0.870042 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.84 [[ 9.99299459e-01 2.87500484e-02 -2.39588216e-02 1.98551342e+01] [-2.90016961e-02 9.99527086e-01 -1.02228384e-02 -5.94412829e-02] [ 2.36535840e-02 1.09105234e-02 9.99660677e-01 -2.84485615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49719346999998 meters Centerline goodness : 0.872238 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.85 [[ 9.99302686e-01 2.82821281e-02 -2.43775244e-02 1.98559066e+01] [-2.85182272e-02 9.99549145e-01 -9.39242389e-03 -6.27851453e-02] [ 2.41008960e-02 1.00810782e-02 9.99658701e-01 -2.84518153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52719347 meters Centerline goodness : 0.874123 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.06, Z:-2.85 [[ 9.99294261e-01 2.84916235e-02 -2.44787139e-02 1.98559384e+01] [-2.87046757e-02 9.99552669e-01 -8.39665513e-03 -6.49568540e-02] [ 2.42285295e-02 9.09338282e-03 9.99665088e-01 -2.84513757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55719347 meters Centerline goodness : 0.877863 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99298379e-01 2.82719927e-02 -2.45651117e-02 1.98555809e+01] [-2.84757359e-02 9.99562598e-01 -7.98409665e-03 -6.66365516e-02] [ 2.43286405e-02 8.67800447e-03 9.99666349e-01 -2.84438954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58719347 meters Centerline goodness : 0.873872 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99306470e-01 2.79417794e-02 -2.46137244e-02 1.98551167e+01] [-2.81416511e-02 9.99573422e-01 -7.81165754e-03 -6.82088334e-02] [ 2.43849531e-02 8.49891077e-03 9.99666516e-01 -2.84366603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61719347 meters Centerline goodness : 0.874424 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99310871e-01 2.75709833e-02 -2.48520357e-02 1.98557289e+01] [-2.77686303e-02 9.99585156e-01 -7.64317748e-03 -6.97062356e-02] [ 2.46309961e-02 8.32801734e-03 9.99661922e-01 -2.84392246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64719347 meters Centerline goodness : 0.875408 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.84 [[ 9.99313084e-01 2.74285894e-02 -2.49205251e-02 1.98564762e+01] [-2.76191658e-02 9.99591602e-01 -7.33556164e-03 -7.06397484e-02] [ 2.47091435e-02 8.01880684e-03 9.99662522e-01 -2.84490795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67719347 meters Centerline goodness : 0.877139 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99310237e-01 2.72704317e-02 -2.52066279e-02 1.98577147e+01] [-2.74655687e-02 9.99595152e-01 -7.42791348e-03 -7.03421097e-02] [ 2.49938607e-02 8.11510435e-03 9.99654666e-01 -2.84585511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70719347 meters Centerline goodness : 0.873254 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99312507e-01 2.65920242e-02 -2.58336697e-02 1.98596985e+01] [-2.68212061e-02 9.99603547e-01 -8.56576062e-03 -6.79275046e-02] [ 2.55956469e-02 9.25276189e-03 9.99629556e-01 -2.84668676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73719347 meters Centerline goodness : 0.870460 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99307545e-01 2.66140687e-02 -2.60023440e-02 1.98601517e+01] [-2.68453124e-02 9.99602735e-01 -8.58489295e-03 -6.77223276e-02] [ 2.57635353e-02 9.27698935e-03 9.99625019e-01 -2.84675706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76719347 meters Centerline goodness : 0.873217 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99294762e-01 2.68701240e-02 -2.62292618e-02 1.98603008e+01] [-2.70948488e-02 9.99598821e-01 -8.25018277e-03 -6.86281528e-02] [ 2.59970557e-02 8.95504231e-03 9.99621909e-01 -2.84632887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79719347 meters Centerline goodness : 0.872193 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99284080e-01 2.67918046e-02 -2.67119128e-02 1.98614528e+01] [-2.70256737e-02 9.99599169e-01 -8.43293716e-03 -6.90100705e-02] [ 2.64752723e-02 9.14880730e-03 9.99607603e-01 -2.84653051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82719347 meters Centerline goodness : 0.868941 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.07, Z:-2.85 [[ 9.99178469e-01 2.97246049e-02 -2.75469705e-02 1.98649716e+01] [-2.98875586e-02 9.99538010e-01 -5.52265868e-03 -6.92247261e-02] [ 2.73700852e-02 6.34143333e-03 9.99605254e-01 -2.84882247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85719347 meters Centerline goodness : 0.871281 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99141311e-01 3.05129313e-02 -2.80285914e-02 1.98666029e+01] [-3.06776181e-02 9.99514394e-01 -5.46447580e-03 -6.74070084e-02] [ 2.78482434e-02 6.31963394e-03 9.99592186e-01 -2.84946773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88719347 meters Centerline goodness : 0.869198 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99111056e-01 3.08905970e-02 -2.86857050e-02 1.98683339e+01] [-3.10738064e-02 9.99499305e-01 -5.96301460e-03 -6.57007687e-02] [ 2.84871412e-02 6.84908785e-03 9.99570694e-01 -2.84975076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91719347 meters Centerline goodness : 0.872115 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99084529e-01 3.14326972e-02 -2.90187716e-02 1.98686187e+01] [-3.16168090e-02 9.99482605e-01 -5.90757917e-03 -6.54677749e-02] [ 2.88180662e-02 6.81965191e-03 9.99561410e-01 -2.84896946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94719347 meters Centerline goodness : 0.872443 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99049002e-01 3.24413346e-02 -2.91316089e-02 1.98672712e+01] [-3.25930198e-02 9.99457433e-01 -4.74710922e-03 -6.83842175e-02] [ 2.89618005e-02 5.69208183e-03 9.99564312e-01 -2.84654166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97719347 meters Centerline goodness : 0.873040 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99130906e-01 2.91672625e-02 -2.97775719e-02 1.98680917e+01] [-2.94439112e-02 9.99526859e-01 -8.89459329e-03 -6.74157404e-02] [ 2.95040520e-02 9.76363124e-03 9.99516975e-01 -2.84594087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00719347 meters Centerline goodness : 0.873078 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99125148e-01 2.91389913e-02 -2.99976369e-02 1.98686632e+01] [-2.93901498e-02 9.99536274e-01 -7.96592390e-03 -6.95248950e-02] [ 2.97516073e-02 8.84058994e-03 9.99518227e-01 -2.84641162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03719347 meters Centerline goodness : 0.878340 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.07, Z:-2.85 [[ 9.99249260e-01 2.46143487e-02 -2.99173998e-02 1.98681339e+01] [-2.49562000e-02 9.99626839e-01 -1.11072775e-02 -7.15515561e-02] [ 2.96328374e-02 1.18455635e-02 9.99490659e-01 -2.84640808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06719347 meters Centerline goodness : 0.879249 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.08, Z:-2.85 [[ 9.99459900e-01 1.96884262e-02 -2.63111105e-02 1.98743657e+01] [-1.97744844e-02 9.99799921e-01 -3.01459135e-03 -7.51623907e-02] [ 2.62464936e-02 3.53325181e-03 9.99649257e-01 -2.84671934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09719347 meters Centerline goodness : 0.878829 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.08, Z:-2.85 [[ 9.99465936e-01 1.86607988e-02 -2.68256864e-02 1.98751927e+01] [-1.87533920e-02 9.99819005e-01 -3.20421141e-03 -7.68280875e-02] [ 2.67610379e-02 3.70557277e-03 9.99634991e-01 -2.84629680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12719347 meters Centerline goodness : 0.880207 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.08, Z:-2.85 [[ 9.99692616e-01 1.43873769e-02 -2.01909979e-02 1.98842903e+01] [-1.43345874e-02 9.99893454e-01 2.75681157e-03 -7.88589329e-02] [ 2.02285099e-02 -2.46653454e-03 9.99792340e-01 -2.84974556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15719347 meters Centerline goodness : 0.880973 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.08, Z:-2.85 [[ 9.99746400e-01 9.89068506e-03 -2.02314184e-02 1.98834035e+01] [-9.93988673e-03 9.99947877e-01 -2.33282959e-03 -7.57095720e-02] [ 2.02072906e-02 2.53333599e-03 9.99792602e-01 -2.84842392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18719347 meters Centerline goodness : 0.883543 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.07, Z:-2.85 [[ 9.99854553e-01 9.01702751e-03 -1.44764148e-02 1.98964839e+01] [-9.18485254e-03 9.99890896e-01 -1.15686729e-02 -7.28000994e-02] [ 1.43705204e-02 1.16999540e-02 9.99828285e-01 -2.85238326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21719346999998 meters Centerline goodness : 0.884030 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.07, Z:-2.85 [[ 9.99856616e-01 8.37074672e-03 -1.47200178e-02 1.98971721e+01] [-8.55496798e-03 9.99885313e-01 -1.24969018e-02 -7.09784366e-02] [ 1.46137212e-02 1.26210393e-02 9.99813557e-01 -2.85251220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24719346999998 meters Centerline goodness : 0.884030 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.07, Z:-2.85 [[ 9.99856616e-01 8.37074672e-03 -1.47200178e-02 1.98971721e+01] [-8.55496798e-03 9.99885313e-01 -1.24969018e-02 -7.09784366e-02] [ 1.46137212e-02 1.26210393e-02 9.99813557e-01 -2.85251220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27719347 meters Centerline goodness : 0.882985 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.07, Z:-2.86 [[ 9.99914610e-01 9.57347052e-03 -8.89506275e-03 1.99099706e+01] [-9.74307086e-03 9.99767743e-01 -1.92232350e-02 -6.75974771e-02] [ 8.70896373e-03 1.93082588e-02 9.99775647e-01 -2.85628579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30719347 meters Centerline goodness : 0.881372 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.07, Z:-2.86 [[ 9.99885593e-01 1.19444298e-02 -9.28070475e-03 1.99116102e+01] [-1.20987080e-02 9.99786521e-01 -1.67491527e-02 -6.60520220e-02] [ 9.07866443e-03 1.68595210e-02 9.99816650e-01 -2.85704827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33719347 meters Centerline goodness : 0.882616 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.06, Z:-2.86 [[ 9.99895204e-01 1.27755324e-02 -6.80931309e-03 1.99304240e+01] [-1.29216490e-02 9.99677431e-01 -2.18646764e-02 -5.99443058e-02] [ 6.52778374e-03 2.19503727e-02 9.99737750e-01 -2.85959083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36719347 meters Centerline goodness : 0.883986 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.06, Z:-2.86 [[ 9.99861214e-01 1.48974037e-02 -7.45782895e-03 1.99336330e+01] [-1.50439965e-02 9.99686750e-01 -2.00019995e-02 -5.79134302e-02] [ 7.15751492e-03 2.01114190e-02 9.99772124e-01 -2.86180343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39719347 meters Centerline goodness : 0.882347 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.06, Z:-2.86 [[ 9.99808424e-01 1.78937702e-02 -7.93276413e-03 1.99361103e+01] [-1.80297716e-02 9.99685725e-01 -1.74177421e-02 -5.54794054e-02] [ 7.61860199e-03 1.75574312e-02 9.99816830e-01 -2.86350777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42719347 meters Centerline goodness : 0.882994 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.05, Z:-2.86 [[ 9.99742034e-01 2.09923949e-02 -8.67089742e-03 1.99389034e+01] [-2.11230072e-02 9.99660465e-01 -1.52568958e-02 -5.23497401e-02] [ 8.34767456e-03 1.54361154e-02 9.99846009e-01 -2.86470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45719347 meters Centerline goodness : 0.883165 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.05, Z:-2.86 [[ 9.99651895e-01 2.47885805e-02 -9.03406589e-03 1.99401237e+01] [-2.48986534e-02 9.99614524e-01 -1.22824956e-02 -5.01031305e-02] [ 8.72611785e-03 1.25031561e-02 9.99883756e-01 -2.86484345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48719347 meters Centerline goodness : 0.884485 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.05, Z:-2.86 [[ 9.99504574e-01 2.99582426e-02 -9.64940295e-03 1.99417077e+01] [-3.00517567e-02 9.99501310e-01 -9.69651306e-03 -4.57926271e-02] [ 9.35410040e-03 9.98169066e-03 9.99906429e-01 -2.86411574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51719347 meters Centerline goodness : 0.891279 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.04, Z:-2.86 [[ 9.99471765e-01 3.08650327e-02 -1.01755008e-02 1.99430044e+01] [-3.09707634e-02 9.99466160e-01 -1.04022271e-02 -4.33480614e-02] [ 9.84900368e-03 1.07118754e-02 9.99894121e-01 -2.86388862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54719347 meters Centerline goodness : 0.893888 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99302276e-01 3.58074121e-02 -1.06202840e-02 1.99450762e+01] [-3.58810610e-02 9.99332747e-01 -6.82716580e-03 -4.20490094e-02] [ 1.03687345e-02 7.20346938e-03 9.99920297e-01 -2.86450438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57719347 meters Centerline goodness : 0.896901 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99294508e-01 3.59649066e-02 -1.08171803e-02 1.99455980e+01] [-3.60437181e-02 9.99324412e-01 -7.18120567e-03 -4.09983189e-02] [ 1.05516010e-02 7.56603078e-03 9.99915706e-01 -2.86431472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60719347 meters Centerline goodness : 0.901490 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99296697e-01 3.58696620e-02 -1.09305865e-02 1.99455791e+01] [-3.59492546e-02 9.99327865e-01 -7.17424151e-03 -4.10472210e-02] [ 1.06659020e-02 7.56214229e-03 9.99914523e-01 -2.86360249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63719347 meters Centerline goodness : 0.905927 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.04, Z:-2.86 [[ 9.99425766e-01 3.19477096e-02 -1.12907560e-02 1.99456266e+01] [-3.20767859e-02 9.99419912e-01 -1.14420353e-02 -3.98104331e-02] [ 1.09186595e-02 1.17976361e-02 9.99870791e-01 -2.86243687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66719347 meters Centerline goodness : 0.913292 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.04, Z:-2.86 [[ 9.99574036e-01 2.71438890e-02 -1.07217520e-02 1.99442429e+01] [-2.72930912e-02 9.99529101e-01 -1.40236784e-02 -4.38791781e-02] [ 1.03360460e-02 1.43103346e-02 9.99844178e-01 -2.86188285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69719347 meters Centerline goodness : 0.914243 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.05, Z:-2.86 [[ 9.99669491e-01 2.32405044e-02 -1.09903299e-02 1.99455032e+01] [-2.34207620e-02 9.99588408e-01 -1.65675164e-02 -4.68533456e-02] [ 1.06007689e-02 1.68194426e-02 9.99802345e-01 -2.86335636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72719347 meters Centerline goodness : 0.913904 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.05, Z:-2.87 [[ 9.99751653e-01 1.93603998e-02 -1.10366504e-02 1.99468688e+01] [-1.95645250e-02 9.99633750e-01 -1.86974438e-02 -5.06665547e-02] [ 1.06706182e-02 1.89087272e-02 9.99764271e-01 -2.86562396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75719347 meters Centerline goodness : 0.912003 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.05, Z:-2.87 [[ 9.99825926e-01 1.50282645e-02 -1.10575403e-02 1.99482141e+01] [-1.52610357e-02 9.99657144e-01 -2.12766299e-02 -5.37367431e-02] [ 1.07339984e-02 2.14416758e-02 9.99712477e-01 -2.86785668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78719347 meters Centerline goodness : 0.890338 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.06, Z:-2.87 [[ 9.99979564e-01 3.39774082e-03 -5.41551195e-03 1.99530199e+01] [-3.48019802e-03 9.99877043e-01 -1.52901263e-02 -5.99998485e-02] [ 5.36289418e-03 1.53086609e-02 9.99868433e-01 -2.87262099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81719347 meters Centerline goodness : 0.889022 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.06, Z:-2.88 [[ 9.99999673e-01 -3.03460511e-04 7.49374218e-04 1.99631206e+01] [ 3.10502065e-04 9.99955635e-01 -9.41440909e-03 -6.33554861e-02] [-7.46484071e-04 9.41463870e-03 9.99955403e-01 -2.87583864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84719347 meters Centerline goodness : 0.872437 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.07, Z:-2.88 [[ 9.99999385e-01 -8.23077431e-04 7.43096695e-04 1.99633418e+01] [ 8.29881067e-04 9.99957313e-01 -9.20238371e-03 -6.51926825e-02] [-7.35490700e-04 9.20299474e-03 9.99957381e-01 -2.87548078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87719347 meters Centerline goodness : 0.878200 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.07, Z:-2.88 [[ 9.99991523e-01 -1.60535407e-03 3.79165273e-03 1.99814067e+01] [ 1.64476455e-03 9.99944422e-01 -1.04138638e-02 -6.66488706e-02] [-3.77472406e-03 1.04200119e-02 9.99938586e-01 -2.87543422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90719347 meters Centerline goodness : 0.874329 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.07, Z:-2.88 [[ 9.99990495e-01 -2.15938903e-03 3.78773732e-03 1.99818527e+01] [ 2.20051496e-03 9.99938310e-01 -1.08872965e-02 -6.61565046e-02] [-3.76399375e-03 1.08955280e-02 9.99933558e-01 -2.87535354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93719347 meters Centerline goodness : 0.899342 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.06, Z:-2.88 [[ 9.99979568e-01 -2.85190560e-03 5.72100663e-03 2.00017674e+01] [ 2.92621800e-03 9.99910911e-01 -1.30233528e-02 -6.28128882e-02] [-5.68335558e-03 1.30398276e-02 9.99898826e-01 -2.87587252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96719346999998 meters Centerline goodness : 0.895305 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.06, Z:-2.88 [[ 9.99985338e-01 -1.19678486e-03 5.28127571e-03 2.00042813e+01] [ 1.25461080e-03 9.99939155e-01 -1.09595420e-02 -6.15270907e-02] [-5.26783816e-03 1.09660072e-02 9.99925996e-01 -2.87738476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99719346999998 meters Centerline goodness : 0.891960 Centerline is valid? [False, False] Translation: X:20.01, Y:-0.06, Z:-2.88 [[ 9.99989212e-01 -1.93588120e-04 4.64093777e-03 2.00073783e+01] [ 2.39229392e-04 9.99951597e-01 -9.83595626e-03 -5.95430780e-02] [-4.63880902e-03 9.83696040e-03 9.99940856e-01 -2.87913085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02719347 meters Centerline goodness : 0.584933 Centerline is valid? [False, False] Translation: X:20.03, Y:-0.05, Z:-2.88 [[ 9.99991952e-01 -2.02766635e-04 4.00680686e-03 2.00304558e+01] [ 2.52830914e-04 9.99921862e-01 -1.24982535e-02 -5.43999492e-02] [-4.00395954e-03 1.24991660e-02 9.99913866e-01 -2.88192101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05719347 meters Centerline goodness : 0.224518 Centerline is valid? [False, False] Translation: X:20.05, Y:-0.05, Z:-2.88 [[ 9.99997753e-01 9.69284039e-04 1.88528266e-03 2.00528842e+01] [-9.45932026e-04 9.99923311e-01 -1.23481773e-02 -5.28738603e-02] [-1.89710697e-03 1.23463662e-02 9.99921981e-01 -2.88350498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08719347 meters Centerline goodness : 0.214190 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.05, Z:-2.89 [[ 9.99998511e-01 1.14717513e-03 1.28882181e-03 2.00569546e+01] [-1.13072246e-03 9.99918780e-01 -1.26946741e-02 -4.95354123e-02] [-1.30328014e-03 1.26931979e-02 9.99918589e-01 -2.88669054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11719347 meters Centerline goodness : 0.223322 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.05, Z:-2.89 [[ 9.99996594e-01 2.51000825e-03 7.15513087e-04 2.00603756e+01] [-2.50167045e-03 9.99931605e-01 -1.14248821e-02 -4.65948826e-02] [-7.44140697e-04 1.14230532e-02 9.99934478e-01 -2.88916295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14719347 meters Centerline goodness : 0.875103 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.04, Z:-2.89 [[ 9.99996562e-01 2.62227618e-03 5.75318111e-06 2.00646564e+01] [-2.62203223e-03 9.99929027e-01 -1.16217617e-02 -4.34677815e-02] [-3.62282418e-05 1.16217067e-02 9.99932465e-01 -2.89236223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17719347 meters Centerline goodness : 0.876179 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.04, Z:-2.90 [[ 9.99997549e-01 2.20250887e-03 2.27134316e-04 2.00877481e+01] [-2.19923085e-03 9.99905870e-01 -1.35430554e-02 -3.75161137e-02] [-2.56941636e-04 1.35425227e-02 9.99908263e-01 -2.89554124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20719347 meters Centerline goodness : 0.876384 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.03, Z:-2.90 [[ 9.99998926e-01 1.46519414e-03 -3.49076697e-05 2.00890649e+01] [-1.46554712e-03 9.99892881e-01 -1.45629206e-02 -3.43212035e-02] [ 1.35664246e-05 1.45629561e-02 9.99893954e-01 -2.89600394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23719347 meters Centerline goodness : 0.875609 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.03, Z:-2.90 [[ 9.99999871e-01 4.62239473e-04 -2.08267767e-04 2.00903653e+01] [-4.65494061e-04 9.99873356e-01 -1.59077370e-02 -3.07845775e-02] [ 2.00888207e-04 1.59078319e-02 9.99873442e-01 -2.89667555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26719347 meters Centerline goodness : 0.873773 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.03, Z:-2.90 [[ 9.99999685e-01 -6.32876655e-04 -4.78615394e-04 2.00920484e+01] [ 6.24471269e-04 9.99849062e-01 -1.73627042e-02 -2.74458277e-02] [ 4.89531603e-04 1.73623999e-02 9.99849142e-01 -2.89759898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29719347 meters Centerline goodness : 0.124441 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.02, Z:-2.90 [[ 9.99986615e-01 -3.61674831e-03 -3.69995114e-03 2.01011500e+01] [ 3.55251847e-03 9.99845390e-01 -1.72213642e-02 -2.04025776e-02] [ 3.76166443e-03 1.72079896e-02 9.99844855e-01 -2.89795951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32719347 meters Centerline goodness : 0.142361 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.02, Z:-2.90 [[ 9.99992461e-01 -1.07783159e-03 -3.73051123e-03 2.01021100e+01] [ 1.02320079e-03 9.99892666e-01 -1.46153763e-02 -1.79439682e-02] [ 3.74586374e-03 1.46114491e-02 9.99886231e-01 -2.89841685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35719347 meters Centerline goodness : 0.136959 Centerline is valid? [False, False] Translation: X:20.11, Y:-0.01, Z:-2.90 [[ 9.99989430e-01 -4.30402796e-03 -1.61695872e-03 2.01124735e+01] [ 4.28787084e-03 9.99942134e-01 -9.86629044e-03 -8.94468713e-03] [ 1.65932995e-03 9.85925284e-03 9.99950020e-01 -2.89905786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38719347 meters Centerline goodness : 0.134141 Centerline is valid? [False, False] Translation: X:20.11, Y:-0.01, Z:-2.90 [[ 9.99993661e-01 -2.98272948e-03 -1.94448553e-03 2.01146473e+01] [ 2.96559669e-03 9.99957276e-01 -8.75509187e-03 -5.67428530e-03] [ 1.97051652e-03 8.74926981e-03 9.99959783e-01 -2.90024683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41719347 meters Centerline goodness : 0.131909 Centerline is valid? [False, False] Translation: X:20.12, Y:-0.00, Z:-2.90 [[ 9.99994278e-01 -2.41498769e-03 -2.36879736e-03 2.01173273e+01] [ 2.39384823e-03 9.99957647e-01 -8.88673659e-03 -1.75611466e-03] [ 2.39015839e-03 8.88101521e-03 9.99957706e-01 -2.90190966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44719347 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 196.47719347 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 196.50719347 meters Centerline goodness : 0.685404 Centerline is valid? [False, False] Translation: X:20.13, Y:0.02, Z:-2.90 [[ 9.99978545e-01 3.34136786e-03 -5.63423886e-03 2.01304074e+01] [-3.41412179e-03 9.99910277e-01 -1.29530310e-02 2.41267178e-02] [ 5.59045250e-03 1.29719891e-02 9.99900232e-01 -2.90369598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53719347 meters Centerline goodness : 0.172198 Centerline is valid? [False, False] Translation: X:20.13, Y:0.03, Z:-2.91 [[ 9.99952284e-01 7.66642396e-03 -6.05440157e-03 2.01337244e+01] [-7.72446401e-03 9.99923873e-01 -9.62194086e-03 2.84284631e-02] [ 5.98017478e-03 9.66824875e-03 9.99935379e-01 -2.90598715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56719347 meters Centerline goodness : 0.876802 Centerline is valid? [False, False] Translation: X:20.13, Y:0.03, Z:-2.91 [[ 9.99918119e-01 1.13047463e-02 -5.99648590e-03 2.01340692e+01] [-1.13485303e-02 9.99908821e-01 -7.31854000e-03 3.38866557e-02] [ 5.91320490e-03 7.38599206e-03 9.99955240e-01 -2.90586876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59719347 meters Centerline goodness : 0.880259 Centerline is valid? [False, False] Translation: X:20.13, Y:0.04, Z:-2.91 [[ 9.99877470e-01 1.45265871e-02 -5.83300013e-03 2.01339690e+01] [-1.45576014e-02 9.99879932e-01 -5.31024921e-03 3.96752529e-02] [ 5.75515997e-03 5.39451304e-03 9.99968888e-01 -2.90537307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62719347 meters Centerline goodness : 0.868138 Centerline is valid? [False, False] Translation: X:20.13, Y:0.05, Z:-2.90 [[ 9.99777900e-01 2.03107254e-02 -5.62365485e-03 2.01335447e+01] [-2.03193934e-02 9.99792432e-01 -1.48852054e-03 4.91401144e-02] [ 5.59225462e-03 1.60245919e-03 9.99983079e-01 -2.90381353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65719347 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 196.68719347 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 196.71719346999998 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 196.74719346999998 meters Centerline goodness : 0.860160 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99649142e-01 2.58216692e-02 -5.90204755e-03 2.01373347e+01] [-2.58316105e-02 9.99665005e-01 -1.61439838e-03 6.63134856e-02] [ 5.85838393e-03 1.76629135e-03 9.99981280e-01 -2.90343361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77719347 meters Centerline goodness : 0.821218 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99649492e-01 2.57805310e-02 -6.02144190e-03 2.01380506e+01] [-2.57932868e-02 9.99665195e-01 -2.05042192e-03 6.81788213e-02] [ 5.96656492e-03 2.20501600e-03 9.99979769e-01 -2.90355969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80719347 meters Centerline goodness : 0.798201 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99651448e-01 2.57082517e-02 -6.00566667e-03 2.01385537e+01] [-2.57236223e-02 9.99665976e-01 -2.49628006e-03 6.94326352e-02] [ 5.93948564e-03 2.64989747e-03 9.99978850e-01 -2.90380364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83719347 meters Centerline goodness : 0.819213 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99640054e-01 2.61669789e-02 -5.92048200e-03 2.01392997e+01] [-2.61826513e-02 9.99653833e-01 -2.58530581e-03 7.03378896e-02] [ 5.85078288e-03 2.73938916e-03 9.99979132e-01 -2.90429251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86719347 meters Centerline goodness : 0.880622 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99474852e-01 3.19219058e-02 -5.56893145e-03 2.01398433e+01] [-3.19113466e-02 9.99488752e-01 1.97477977e-03 7.14034482e-02] [ 5.62912308e-03 -1.79603061e-03 9.99982543e-01 -2.90413588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89719347 meters Centerline goodness : 0.854135 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99316284e-01 3.65844581e-02 -5.34250713e-03 2.01402398e+01] [-3.65523516e-02 9.99313796e-01 5.98848428e-03 7.27014785e-02] [ 5.55792654e-03 -5.78910866e-03 9.99967797e-01 -2.90401842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92719347 meters Centerline goodness : 0.859198 Centerline is valid? [False, False] Translation: X:20.14, Y:0.07, Z:-2.90 [[ 9.99136005e-01 4.12227393e-02 -5.28488156e-03 2.01411510e+01] [-4.11687476e-02 9.99102688e-01 9.94755259e-03 7.43216220e-02] [ 5.69020473e-03 -9.72138600e-03 9.99936556e-01 -2.90436773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95719347 meters Centerline goodness : 0.211402 Centerline is valid? [False, False] Translation: X:20.15, Y:0.08, Z:-2.91 [[ 9.98747279e-01 5.00289474e-02 9.88550452e-04 2.01523899e+01] [-5.00362058e-02 9.98700092e-01 9.72133293e-03 7.63201115e-02] [-5.00917374e-04 -9.75861812e-03 9.99952258e-01 -2.90781870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98719347 meters Centerline goodness : 0.850280 Centerline is valid? [False, False] Translation: X:20.15, Y:0.08, Z:-2.91 [[ 9.98713632e-01 5.06971145e-02 9.40612548e-04 2.01527743e+01] [-5.07041139e-02 9.98660841e-01 1.02770440e-02 7.50139469e-02] [-4.18336442e-04 -1.03115168e-02 9.99946747e-01 -2.90786645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01719347 meters Centerline goodness : 0.851658 Centerline is valid? [False, False] Translation: X:20.15, Y:0.07, Z:-2.91 [[ 9.98841276e-01 4.81223793e-02 5.84265335e-04 2.01538659e+01] [-4.81253583e-02 9.98814852e-01 7.26923145e-03 7.34934209e-02] [-2.33760181e-04 -7.28892639e-03 9.99973408e-01 -2.90854044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04719347 meters Centerline goodness : 0.851591 Centerline is valid? [False, False] Translation: X:20.16, Y:0.07, Z:-2.91 [[ 9.98875318e-01 4.74141184e-02 -2.85314494e-05 2.01570273e+01] [-4.74128292e-02 9.98852250e-01 6.79748135e-03 6.99363695e-02] [ 3.50795288e-04 -6.78848359e-03 9.99976896e-01 -2.91110459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07719347 meters Centerline goodness : 0.848785 Centerline is valid? [False, False] Translation: X:20.18, Y:0.06, Z:-2.91 [[ 9.98865409e-01 4.76070571e-02 1.20944642e-03 2.01762353e+01] [-4.76182608e-02 9.98791616e-01 1.21576447e-02 5.99286227e-02] [-6.29195257e-04 -1.22014425e-02 9.99925362e-01 -2.91442716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10719347 meters Centerline goodness : 0.855601 Centerline is valid? [False, False] Translation: X:20.18, Y:0.06, Z:-2.92 [[ 9.98942391e-01 4.59778661e-02 3.68504942e-04 2.01789750e+01] [-4.59791640e-02 9.98884072e-01 1.07947664e-02 5.66855962e-02] [ 1.28226608e-04 -1.08002933e-02 9.99941667e-01 -2.91603045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13719347 meters Centerline goodness : 0.855601 Centerline is valid? [False, False] Translation: X:20.18, Y:0.06, Z:-2.92 [[ 9.98942391e-01 4.59778661e-02 3.68504942e-04 2.01789750e+01] [-4.59791640e-02 9.98884072e-01 1.07947664e-02 5.66855962e-02] [ 1.28226608e-04 -1.08002933e-02 9.99941667e-01 -2.91603045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16719347 meters Centerline goodness : 0.881956 Centerline is valid? [False, False] Translation: X:20.18, Y:0.05, Z:-2.92 [[ 9.99062026e-01 4.33017749e-02 -1.55214155e-04 2.01801646e+01] [-4.32989052e-02 9.99026201e-01 8.47672476e-03 5.32669564e-02] [ 5.22120236e-04 -8.46205321e-03 9.99964060e-01 -2.91653454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19719347 meters Centerline goodness : 0.852669 Centerline is valid? [False, False] Translation: X:20.18, Y:0.05, Z:-2.92 [[ 9.99118644e-01 4.19623084e-02 -1.04891993e-03 2.01829977e+01] [-4.19528175e-02 9.99088786e-01 7.84588946e-03 4.75815158e-02] [ 1.37719578e-03 -7.79496929e-03 9.99968670e-01 -2.91826374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22719347 meters Centerline goodness : 0.157095 Centerline is valid? [False, False] Translation: X:20.19, Y:0.04, Z:-2.92 [[ 9.99186391e-01 4.02811190e-02 -1.99701565e-03 2.01857481e+01] [-4.02663666e-02 9.99164835e-01 6.94643406e-03 4.15009975e-02] [ 2.27515795e-03 -6.86036981e-03 9.99973879e-01 -2.91987190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25719347 meters Centerline goodness : 0.854335 Centerline is valid? [False, False] Translation: X:20.20, Y:0.03, Z:-2.92 [[ 9.99203506e-01 3.98983994e-02 6.86668178e-04 2.02031232e+01] [-3.99040408e-02 9.99111825e-01 1.35361617e-02 2.57697690e-02] [-1.45987110e-04 -1.35527811e-02 9.99908146e-01 -2.92319006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28719347 meters Centerline goodness : 0.857079 Centerline is valid? [False, False] Translation: X:20.21, Y:0.02, Z:-2.92 [[ 9.99364307e-01 3.56190563e-02 1.50484739e-03 2.02114121e+01] [-3.56427832e-02 9.99145048e-01 2.09467128e-02 1.85437320e-02] [-7.57458681e-04 -2.09870341e-02 9.99779461e-01 -2.92148354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31719347 meters Centerline goodness : 0.855559 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.01, Z:-2.91 [[ 9.99579879e-01 2.77475379e-02 8.37497215e-03 2.02311849e+01] [-2.82779250e-02 9.97018973e-01 7.17880651e-02 -9.83469275e-03] [-6.35806407e-03 -7.19947323e-02 9.97384747e-01 -2.91030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34719347 meters Centerline goodness : 0.133939 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.01, Z:-2.91 [[ 9.99652281e-01 2.54086402e-02 7.05114802e-03 2.02394928e+01] [-2.57889563e-02 9.97837590e-01 6.04572090e-02 -1.49841690e-02] [-5.49976507e-03 -6.06180287e-02 9.98145885e-01 -2.90766254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37719347 meters Centerline goodness : 0.853229 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.02, Z:-2.91 [[ 9.99732450e-01 2.21700445e-02 6.59682898e-03 2.02404272e+01] [-2.25195409e-02 9.98020545e-01 5.87184998e-02 -2.10790190e-02] [-5.28197910e-03 -5.88513472e-02 9.98252783e-01 -2.90734218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40719347 meters Centerline goodness : 0.854047 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.03, Z:-2.91 [[ 9.99843724e-01 1.66175823e-02 6.03192520e-03 2.02422554e+01] [-1.69183942e-02 9.98407358e-01 5.38192760e-02 -2.61287851e-02] [-5.12797226e-03 -5.39129159e-02 9.98532474e-01 -2.90836442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43719347 meters Centerline goodness : 0.859852 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.03, Z:-2.91 [[ 9.99925604e-01 1.10013804e-02 5.26839857e-03 2.02445839e+01] [-1.12466214e-02 9.98733750e-01 4.90347764e-02 -3.15939788e-02] [-4.72227724e-03 -4.90903801e-02 9.98783177e-01 -2.90949449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46719346999998 meters Centerline goodness : 0.864405 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.04, Z:-2.91 [[ 9.99985520e-01 -6.25860662e-04 5.34484216e-03 2.02440233e+01] [ 4.12921828e-04 9.99209626e-01 3.97486291e-02 -4.34217576e-02] [-5.36549484e-03 -3.97458466e-02 9.99195416e-01 -2.90881009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49719346999998 meters Centerline goodness : 0.876426 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.05, Z:-2.91 [[ 9.99967032e-01 -6.62000718e-03 4.70214591e-03 2.02463437e+01] [ 6.45364199e-03 9.99381933e-01 3.45557852e-02 -4.86596749e-02] [-4.92799922e-03 -3.45243000e-02 9.99391709e-01 -2.90997477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52719347 meters Centerline goodness : 0.889544 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.05, Z:-2.91 [[ 9.99917292e-01 -1.22384519e-02 3.95340111e-03 2.02493024e+01] [ 1.21164620e-02 9.99490373e-01 2.95327992e-02 -5.30414617e-02] [-4.31282209e-03 -2.94824554e-02 9.99555994e-01 -2.91167000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55719347 meters Centerline goodness : 0.881614 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.06, Z:-2.91 [[ 9.99866609e-01 -1.59226064e-02 3.63800863e-03 2.02506076e+01] [ 1.58201005e-02 9.99519540e-01 2.66535767e-02 -5.68364973e-02] [-4.06065512e-03 -2.65924677e-02 9.99638110e-01 -2.91237309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58719347 meters Centerline goodness : 0.897310 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.06, Z:-2.91 [[ 9.99776069e-01 -2.09720194e-02 2.82600556e-03 2.02540190e+01] [ 2.09031613e-02 9.99527875e-01 2.25185439e-02 -6.19884115e-02] [-3.29693067e-03 -2.24544288e-02 9.99742431e-01 -2.91438834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61719347 meters Centerline goodness : 0.872420 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.06, Z:-2.92 [[ 9.99720517e-01 -2.35298658e-02 2.28744430e-03 2.02561879e+01] [ 2.34789633e-02 9.99520459e-01 2.01888780e-02 -6.40932274e-02] [-2.76138897e-03 -2.01295287e-02 9.99793567e-01 -2.91569017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64719347 meters Centerline goodness : 0.890337 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.07, Z:-2.92 [[ 9.99654028e-01 -2.62452113e-02 1.73575686e-03 2.02581841e+01] [ 2.62106356e-02 9.99501407e-01 1.76051096e-02 -6.61396269e-02] [-2.19694124e-03 -1.75535235e-02 9.99843511e-01 -2.91677738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67719347 meters Centerline goodness : 0.877663 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.07, Z:-2.92 [[ 9.99580875e-01 -2.89310160e-02 1.03459571e-03 2.02605681e+01] [ 2.89123731e-02 9.99470508e-01 1.49257284e-02 -6.80666242e-02] [-1.46586438e-03 -1.48895600e-02 9.99888070e-01 -2.91806738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70719347 meters Centerline goodness : 0.874287 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.07, Z:-2.92 [[ 9.99532777e-01 -3.05596603e-02 5.79079698e-04 2.02630938e+01] [ 3.05492737e-02 9.99444899e-01 1.32904350e-02 -6.87630441e-02] [-9.84909430e-04 -1.32665349e-02 9.99911511e-01 -2.92002866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73719347 meters Centerline goodness : 0.874290 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.07, Z:-2.92 [[ 9.99703649e-01 -2.43381294e-02 -5.19900708e-04 2.02817956e+01] [ 2.43393746e-02 9.99700525e-01 2.54057218e-03 -6.67349542e-02] [ 4.57912236e-04 -2.55247333e-03 9.99996638e-01 -2.92063597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76719347 meters Centerline goodness : 0.869302 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.07, Z:-2.92 [[ 9.99760775e-01 -2.18423326e-02 -1.14211747e-03 2.02842632e+01] [ 2.18476437e-02 9.99749473e-01 4.86532804e-03 -6.57388591e-02] [ 1.03556122e-03 -4.88911671e-03 9.99987512e-01 -2.92233670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79719347 meters Centerline goodness : 0.863153 Centerline is valid? [False, False] Translation: X:20.31, Y:-0.06, Z:-2.93 [[ 9.99894619e-01 -1.43628691e-02 -2.11172192e-03 2.03075880e+01] [ 1.43505493e-02 9.99880563e-01 -5.73779189e-03 -6.25181699e-02] [ 2.19388086e-03 5.70688286e-03 9.99981309e-01 -2.92514955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82719347 meters Centerline goodness : 0.863938 Centerline is valid? [False, False] Translation: X:20.31, Y:-0.06, Z:-2.93 [[ 9.99908425e-01 -1.32131942e-02 -2.92442378e-03 2.03105828e+01] [ 1.31985554e-02 9.99900545e-01 -4.96963238e-03 -6.12934703e-02] [ 2.98979765e-03 4.93057912e-03 9.99983375e-01 -2.92705815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85719347 meters Centerline goodness : 0.863536 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.06, Z:-2.93 [[ 9.99952849e-01 -9.59669962e-03 1.48437951e-03 2.03225309e+01] [ 9.61256580e-03 9.99892422e-01 -1.10789251e-02 -5.93671908e-02] [-1.37789871e-03 1.10926714e-02 9.99937525e-01 -2.93101646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88719347 meters Centerline goodness : 0.860386 Centerline is valid? [False, False] Translation: X:20.33, Y:-0.06, Z:-2.93 [[ 9.99955204e-01 -6.93154991e-03 6.44547227e-03 2.03324825e+01] [ 7.05026294e-03 9.99802492e-01 -1.85814533e-02 -5.76414573e-02] [-6.31540097e-03 1.86260632e-02 9.99806574e-01 -2.93377343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91719347 meters Centerline goodness : 0.859750 Centerline is valid? [False, False] Translation: X:20.33, Y:-0.06, Z:-2.93 [[ 9.99955272e-01 -6.93138988e-03 6.43503076e-03 2.03322717e+01] [ 7.05060981e-03 9.99800416e-01 -1.86926795e-02 -5.71048967e-02] [-6.30418019e-03 1.87372143e-02 9.99804568e-01 -2.93322257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94719347 meters Centerline goodness : 0.856632 Centerline is valid? [False, False] Translation: X:20.35, Y:-0.06, Z:-2.93 [[ 9.99969736e-01 -5.33366954e-03 5.66390266e-03 2.03529073e+01] [ 5.43406304e-03 9.99825727e-01 -1.78602216e-02 -5.75860226e-02] [-5.56765507e-03 1.78904591e-02 9.99824451e-01 -2.93387355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97719347 meters Centerline goodness : 0.858224 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.06, Z:-2.94 [[ 9.99981245e-01 -3.67944602e-03 4.89609998e-03 2.03560118e+01] [ 3.75875092e-03 9.99860274e-01 -1.62881707e-02 -5.73367068e-02] [-4.83548442e-03 1.63062684e-02 9.99855351e-01 -2.93604782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00719347 meters Centerline goodness : 0.851739 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.06, Z:-2.94 [[ 9.99989320e-01 -1.71881017e-03 4.29009907e-03 2.03589591e+01] [ 1.78025783e-03 9.99895296e-01 -1.43606501e-02 -5.66834978e-02] [-4.26496664e-03 1.43681342e-02 9.99887677e-01 -2.93836772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03719347 meters Centerline goodness : 0.854397 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.05, Z:-2.94 [[ 9.99993934e-01 1.13720290e-03 3.29213126e-03 2.03809837e+01] [-1.08834483e-03 9.99889811e-01 -1.48048056e-02 -5.42907966e-02] [-3.30860457e-03 1.48011328e-02 9.99884983e-01 -2.94061868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06719347 meters Centerline goodness : 0.853351 Centerline is valid? [False, False] Translation: X:20.40, Y:-0.05, Z:-2.94 [[ 9.99987243e-01 1.49380038e-03 4.82525218e-03 2.03989415e+01] [-1.40733548e-03 9.99839271e-01 -1.78732129e-02 -5.27242971e-02] [-4.85117564e-03 1.78661942e-02 9.99828618e-01 -2.94097017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09719347 meters Centerline goodness : 0.851888 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.05, Z:-2.94 [[ 9.99974761e-01 4.94700211e-04 7.08743808e-03 2.04158388e+01] [-3.27740683e-04 9.99722867e-01 -2.35389290e-02 -4.97168060e-02] [-7.09711863e-03 2.35360121e-02 9.99697798e-01 -2.94127603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12719347 meters Centerline goodness : 0.851389 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.05, Z:-2.94 [[ 9.99977208e-01 1.87959206e-03 6.48459916e-03 2.04183103e+01] [-1.73400931e-03 9.99747953e-01 -2.23835776e-02 -4.92074419e-02] [-6.52503673e-03 2.23718231e-02 9.99728426e-01 -2.94292496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15719347 meters Centerline goodness : 0.851534 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.05, Z:-2.94 [[ 9.99978834e-01 2.05296529e-03 6.17383449e-03 2.04195302e+01] [-1.91218069e-03 9.99739959e-01 -2.27235145e-02 -4.85937117e-02] [-6.21887963e-03 2.27112280e-02 9.99722724e-01 -2.94350193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18719347 meters Centerline goodness : 0.848691 Centerline is valid? [False, False] Translation: X:20.44, Y:-0.05, Z:-2.94 [[ 9.99998515e-01 1.56630245e-03 7.19433686e-04 2.04396884e+01] [-1.54882636e-03 9.99718355e-01 -2.36814745e-02 -4.87968283e-02] [-7.56323412e-04 2.36803250e-02 9.99719296e-01 -2.94265491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21719346999998 meters Centerline goodness : 0.848540 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.05, Z:-2.94 [[ 9.99998441e-01 1.34876030e-03 1.13931439e-03 2.04503721e+01] [-1.30776568e-03 9.99377775e-01 -3.52470180e-02 -4.71637968e-02] [-1.18614526e-03 3.52454732e-02 9.99377981e-01 -2.94340791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24719346999998 meters Centerline goodness : 0.847346 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.05, Z:-2.94 [[ 9.99994222e-01 -3.25545662e-03 9.78908166e-04 2.04512681e+01] [ 3.29172199e-03 9.99207727e-01 -3.96621103e-02 -4.67567427e-02] [-8.49014324e-04 3.96651034e-02 9.99212669e-01 -2.94424851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27719347 meters Centerline goodness : 0.847390 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.05, Z:-2.95 [[ 9.99986293e-01 -5.22348060e-03 3.59959752e-04 2.04535438e+01] [ 5.23381930e-03 9.99153174e-01 -4.08110549e-02 -4.78760893e-02] [-1.46479175e-04 4.08123795e-02 9.99166817e-01 -2.94568614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30719347 meters Centerline goodness : 0.847606 Centerline is valid? [False, False] Translation: X:20.46, Y:-0.05, Z:-2.95 [[ 9.99949663e-01 -8.95620258e-03 4.52295502e-03 2.04630609e+01] [ 9.10203614e-03 9.99403170e-01 -3.33235072e-02 -5.12347169e-02] [-4.22180351e-03 3.33629979e-02 9.99434383e-01 -2.94780275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33719347 meters Centerline goodness : 0.848251 Centerline is valid? [False, False] Translation: X:20.46, Y:-0.05, Z:-2.95 [[ 9.99903369e-01 -1.32174727e-02 4.30721181e-03 2.04639007e+01] [ 1.33687953e-02 9.99217113e-01 -3.72348886e-02 -5.20330172e-02] [-3.81168863e-03 3.72888728e-02 9.99297259e-01 -2.94829892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36719347 meters Centerline goodness : 0.846890 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.05, Z:-2.95 [[ 9.99863877e-01 -1.60368873e-02 3.87881655e-03 2.04663889e+01] [ 1.61780783e-02 9.99083813e-01 -3.96207503e-02 -5.28084456e-02] [-3.23986932e-03 3.96781088e-02 9.99207261e-01 -2.95027335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39719347 meters Centerline goodness : 0.847009 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.05, Z:-2.95 [[ 9.99825375e-01 -1.83807634e-02 3.37151869e-03 2.04693364e+01] [ 1.85043764e-02 9.98975892e-01 -4.12886901e-02 -5.22113065e-02] [-2.60914825e-03 4.13438679e-02 9.99141570e-01 -2.95280118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42719347 meters Centerline goodness : 0.845409 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.05, Z:-2.96 [[ 9.99805616e-01 -1.77012788e-02 8.68303454e-03 2.04795602e+01] [ 1.79586051e-02 9.99373070e-01 -3.05115523e-02 -5.44088651e-02] [-8.13749739e-03 3.06615565e-02 9.99496698e-01 -2.95629581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45719347 meters Centerline goodness : 0.847777 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.06, Z:-2.96 [[ 9.99869877e-01 -1.37443745e-02 8.44516850e-03 2.04799790e+01] [ 1.39614303e-02 9.99559112e-01 -2.62041903e-02 -5.55106273e-02] [-8.08128492e-03 2.63186872e-02 9.99620938e-01 -2.95642044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48719347 meters Centerline goodness : 0.848441 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.06, Z:-2.96 [[ 9.99918644e-01 -1.01064231e-02 7.78243580e-03 2.05011849e+01] [ 1.02893315e-02 9.99663007e-01 -2.38327866e-02 -5.58533286e-02] [-7.53894895e-03 2.39109237e-02 9.99685667e-01 -2.95776006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51719347 meters Centerline goodness : 0.852212 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.05, Z:-2.96 [[ 9.99959997e-01 -5.02130979e-03 7.40210569e-03 2.05014652e+01] [ 5.17073277e-03 9.99780409e-01 -2.03075699e-02 -5.23974100e-02] [-7.29850965e-03 2.03450319e-02 9.99766378e-01 -2.95692896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54719347 meters Centerline goodness : 0.851888 Centerline is valid? [False, False] Translation: X:20.53, Y:-0.05, Z:-2.95 [[ 9.99982732e-01 6.76767982e-04 5.83756702e-03 2.05275914e+01] [-5.29033219e-04 9.99680469e-01 -2.52721123e-02 -4.99696391e-02] [-5.85280509e-03 2.52685876e-02 9.99663565e-01 -2.95466939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57719347 meters Centerline goodness : 0.854181 Centerline is valid? [False, False] Translation: X:20.53, Y:-0.05, Z:-2.95 [[ 9.99973242e-01 4.56422142e-03 5.71700199e-03 2.05275282e+01] [-4.43927521e-03 9.99755095e-01 -2.16804537e-02 -4.88628077e-02] [-5.81455626e-03 2.16544942e-02 9.99748605e-01 -2.95399003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60719347 meters Centerline goodness : 0.856090 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.05, Z:-2.95 [[ 9.99944253e-01 5.49720443e-03 9.01509860e-03 2.05443706e+01] [-5.27107614e-03 9.99675600e-01 -2.49180695e-02 -4.53294358e-02] [-9.14915382e-03 2.48691611e-02 9.99648847e-01 -2.95455627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63719347 meters Centerline goodness : 0.860238 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.04, Z:-2.95 [[ 9.99889591e-01 9.86138193e-03 1.11156709e-02 2.05522876e+01] [-9.49279948e-03 9.99418900e-01 -3.27375740e-02 -4.18979984e-02] [-1.14320493e-02 3.26284407e-02 9.99402168e-01 -2.95380281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66719347 meters Centerline goodness : 0.861750 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.04, Z:-2.95 [[ 9.99889801e-01 9.93489802e-03 1.10310399e-02 2.05520574e+01] [-9.56830154e-03 9.99416040e-01 -3.28028295e-02 -4.15161596e-02] [-1.13504910e-02 3.26936663e-02 9.99400966e-01 -2.95319145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69719347 meters Centerline goodness : 0.858987 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.04, Z:-2.95 [[ 9.99891667e-01 9.76006483e-03 1.10179891e-02 2.05519999e+01] [-9.39600560e-03 9.99423529e-01 -3.26239879e-02 -4.22461311e-02] [-1.13300497e-02 3.25169285e-02 9.99406964e-01 -2.95315478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72719347 meters Centerline goodness : 0.859342 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.04, Z:-2.95 [[ 9.99950602e-01 7.01266977e-03 7.04391620e-03 2.05603429e+01] [-6.81193522e-03 9.99581110e-01 -2.81283169e-02 -4.35379950e-02] [-7.23822017e-03 2.80789447e-02 9.99579502e-01 -2.95093074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75719347 meters Centerline goodness : 0.848687 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.04, Z:-2.95 [[ 9.99956471e-01 6.35933300e-03 6.82745864e-03 2.05614624e+01] [-6.16044388e-03 9.99567164e-01 -2.87668868e-02 -4.23891112e-02] [-7.00744168e-03 2.87235745e-02 9.99562830e-01 -2.95193258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78719347 meters Centerline goodness : 0.844405 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99962355e-01 6.14153293e-03 6.12950358e-03 2.05653067e+01] [-5.96190193e-03 9.99564352e-01 -2.89060747e-02 -4.16173873e-02] [-6.30436088e-03 2.88684430e-02 9.99563339e-01 -2.95512882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81719347 meters Centerline goodness : 0.848658 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99971644e-01 5.01301935e-03 5.61969541e-03 2.05677828e+01] [-4.84175875e-03 9.99535610e-01 -3.00852422e-02 -4.08397729e-02] [-5.76790358e-03 3.00571799e-02 9.99531539e-01 -2.95707480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84719347 meters Centerline goodness : 0.842634 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99981299e-01 3.74494482e-03 4.83498915e-03 2.05710063e+01] [-3.59149640e-03 9.99501548e-01 -3.13648908e-02 -4.17350931e-02] [-4.95003892e-03 3.13469394e-02 9.99496306e-01 -2.95940873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87719347 meters Centerline goodness : 0.844441 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.04, Z:-2.96 [[ 9.99977713e-01 5.27636093e-03 4.09064592e-03 2.05739582e+01] [-5.15189753e-03 9.99540753e-01 -2.98620470e-02 -4.16980792e-02] [-4.24633024e-03 2.98403069e-02 9.99545659e-01 -2.96140321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90719347 meters Centerline goodness : 0.845431 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.04, Z:-2.96 [[ 9.99971800e-01 7.09125018e-03 2.47272117e-03 2.05966282e+01] [-7.01510066e-03 9.99538608e-01 -2.95526661e-02 -4.02699740e-02] [-2.68114563e-03 2.95344863e-02 9.99560166e-01 -2.96407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93719347 meters Centerline goodness : 0.846210 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.04, Z:-2.97 [[ 9.99961173e-01 8.62822420e-03 1.79082627e-03 2.05996648e+01] [-8.57455090e-03 9.99568899e-01 -2.80801084e-02 -3.90355016e-02] [-2.03233572e-03 2.80636625e-02 9.99604072e-01 -2.96614854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96719346999998 meters Centerline goodness : 0.845979 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.04, Z:-2.97 [[ 9.99973770e-01 7.22146182e-03 5.56821976e-04 2.05919071e+01] [-7.21028196e-03 9.99812291e-01 -1.79832026e-02 -4.15050526e-02] [-6.86582466e-04 1.79787160e-02 9.99838134e-01 -2.96723103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99719346999998 meters Centerline goodness : 0.845554 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.04, Z:-2.97 [[ 9.99975902e-01 6.93579941e-03 2.99292271e-04 2.05922896e+01] [-6.92942876e-03 9.99819872e-01 -1.76693583e-02 -4.33539237e-02] [-4.21789485e-04 1.76668586e-02 9.99843840e-01 -2.96713997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02719347 meters Centerline goodness : 0.846104 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99985139e-01 3.10983927e-03 4.47784376e-03 2.06010501e+01] [-3.06039888e-03 9.99934749e-01 -1.10059550e-02 -4.55103572e-02] [-4.51177833e-03 1.09920875e-02 9.99929406e-01 -2.96843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05719347 meters Centerline goodness : 0.846104 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99985139e-01 3.10983927e-03 4.47784376e-03 2.06010501e+01] [-3.06039888e-03 9.99934749e-01 -1.10059550e-02 -4.55103572e-02] [-4.51177833e-03 1.09920875e-02 9.99929406e-01 -2.96843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08719347 meters Centerline goodness : 0.849561 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99990772e-01 -1.00193231e-03 4.17759562e-03 2.06015017e+01] [ 1.06336558e-03 9.99890954e-01 -1.47292179e-02 -4.61528943e-02] [-4.16238239e-03 1.47335242e-02 9.99882792e-01 -2.96826610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11719347 meters Centerline goodness : 0.851935 Centerline is valid? [False, False] Translation: X:20.60, Y:-0.05, Z:-2.97 [[ 9.99992260e-01 -1.30621373e-03 3.71120089e-03 2.06026212e+01] [ 1.35925810e-03 9.99896444e-01 -1.43266632e-02 -4.82766741e-02] [-3.69210289e-03 1.43315967e-02 9.99890481e-01 -2.96867896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14719347 meters Centerline goodness : 0.854150 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.05, Z:-2.97 [[ 9.99992054e-01 -2.58864740e-03 3.03148676e-03 2.06052311e+01] [ 2.63439137e-03 9.99881244e-01 -1.51841199e-02 -4.93433051e-02] [-2.99182042e-03 1.51919854e-02 9.99880119e-01 -2.97037306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17719347 meters Centerline goodness : 0.851554 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.05, Z:-2.97 [[ 9.99992692e-01 -2.66108220e-03 2.74500416e-03 2.06060156e+01] [ 2.70148976e-03 9.99886480e-01 -1.48232566e-02 -5.08214203e-02] [-2.70524664e-03 1.48305639e-02 9.99886362e-01 -2.97073984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20719347 meters Centerline goodness : 0.846931 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.05, Z:-2.97 [[ 9.99993292e-01 -2.52228038e-03 2.65612326e-03 2.06054395e+01] [ 2.56051360e-03 9.99891726e-01 -1.44907223e-02 -5.11007135e-02] [-2.61928601e-03 1.44974262e-02 9.99891476e-01 -2.96963312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23719347 meters Centerline goodness : 0.853727 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.05, Z:-2.97 [[ 9.99985615e-01 -5.33945071e-04 5.33706758e-03 2.06235450e+01] [ 6.05496959e-04 9.99909845e-01 -1.34139795e-02 -5.15015808e-02] [-5.32942409e-03 1.34170181e-02 9.99895785e-01 -2.96954836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26719347 meters Centerline goodness : 0.857196 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.05, Z:-2.97 [[ 9.99982230e-01 3.07368136e-03 5.10807448e-03 2.06234336e+01] [-3.02486385e-03 9.99949944e-01 -9.53733138e-03 -5.17040650e-02] [-5.13713351e-03 9.52171067e-03 9.99941472e-01 -2.96870746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29719347 meters Centerline goodness : 0.858470 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.05, Z:-2.97 [[ 9.99978477e-01 4.81565215e-03 4.45584728e-03 2.06252026e+01] [-4.77907709e-03 9.99955099e-01 -8.18288531e-03 -5.05315490e-02] [-4.49505314e-03 8.16141436e-03 9.99956592e-01 -2.96925465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32719347 meters Centerline goodness : 0.862877 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.05, Z:-2.97 [[ 9.99950856e-01 8.92082797e-03 4.32478915e-03 2.06254756e+01] [-8.89888791e-03 9.99947571e-01 -5.06606889e-03 -4.74157778e-02] [-4.36975594e-03 5.02733411e-03 9.99977815e-01 -2.96900081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35719347 meters Centerline goodness : 0.862349 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99878289e-01 1.26170393e-02 9.17697119e-03 2.06378237e+01] [-1.25107565e-02 9.99855050e-01 -1.15481152e-02 -4.45361904e-02] [-9.32134401e-03 1.14318989e-02 9.99891206e-01 -2.97370304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38719347 meters Centerline goodness : 0.863746 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99873117e-01 1.30594108e-02 9.12148975e-03 2.06381887e+01] [-1.29473753e-02 9.99841317e-01 -1.22354928e-02 -4.19559741e-02] [-9.27983065e-03 1.21158410e-02 9.99883539e-01 -2.97380610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41719347 meters Centerline goodness : 0.864146 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99863806e-01 1.38199828e-02 9.02097706e-03 2.06386061e+01] [-1.37059417e-02 9.99826887e-01 -1.25834843e-02 -3.96931415e-02] [-9.19331895e-03 1.24581295e-02 9.99880132e-01 -2.97380307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44719347 meters Centerline goodness : 0.865487 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99786421e-01 1.85640632e-02 9.08232440e-03 2.06389764e+01] [-1.84818894e-02 9.99788241e-01 -9.04944453e-03 -3.70802391e-02] [-9.24839560e-03 8.87965324e-03 9.99917806e-01 -2.97398568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47719347 meters Centerline goodness : 0.860382 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.97 [[ 9.99701882e-01 2.26838568e-02 9.03268995e-03 2.06394762e+01] [-2.26410477e-02 9.99732070e-01 -4.81374796e-03 -3.76047071e-02] [-9.13946419e-03 4.60780333e-03 9.99947618e-01 -2.97438147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50719347 meters Centerline goodness : 0.855814 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.04, Z:-2.98 [[ 9.99666265e-01 2.44121387e-02 8.45018693e-03 2.06422022e+01] [-2.43851346e-02 9.99697244e-01 -3.28410842e-03 -3.82885414e-02] [-8.52780070e-03 3.07695345e-03 9.99958904e-01 -2.97655935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53719347 meters Centerline goodness : 0.854163 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.04, Z:-2.98 [[ 9.99632676e-01 2.60422936e-02 7.50416046e-03 2.06468855e+01] [-2.60314127e-02 9.99659933e-01 -1.54404000e-03 -4.13691083e-02] [-7.54181889e-03 1.34812894e-03 9.99970651e-01 -2.98043624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56719347 meters Centerline goodness : 0.856757 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.04, Z:-2.98 [[ 9.99624703e-01 2.63827737e-02 7.37580229e-03 2.06477532e+01] [-2.63767478e-02 9.99651656e-01 -9.13083048e-04 -4.30530967e-02] [-7.39732264e-03 7.18190693e-04 9.99972382e-01 -2.98135986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59719347 meters Centerline goodness : 0.851695 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.04, Z:-2.98 [[ 9.99698602e-01 2.34635005e-02 7.22276845e-03 2.06481506e+01] [-2.34323851e-02 9.99715904e-01 -4.36287809e-03 -4.27649399e-02] [-7.32308488e-03 4.19231644e-03 9.99964398e-01 -2.98171782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62719347 meters Centerline goodness : 0.856502 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.05, Z:-2.98 [[ 9.99689649e-01 2.39039206e-02 7.01489481e-03 2.06485613e+01] [-2.38809411e-02 9.99709225e-01 -3.34150324e-03 -4.55213050e-02] [-7.09273008e-03 3.17294391e-03 9.99969812e-01 -2.98184239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65719347 meters Centerline goodness : 0.852207 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.05, Z:-2.98 [[ 9.99710050e-01 2.32305914e-02 6.33687128e-03 2.06509084e+01] [-2.32093481e-02 9.99724826e-01 -3.40554327e-03 -4.89756263e-02] [-6.41424032e-03 3.25748118e-03 9.99974123e-01 -2.98339503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68719347 meters Centerline goodness : 0.860416 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.06, Z:-2.98 [[ 9.99765218e-01 2.07950421e-02 6.08887551e-03 2.06508011e+01] [-2.07684094e-02 9.99774609e-01 -4.40504802e-03 -5.87553875e-02] [-6.17910629e-03 4.27755753e-03 9.99971760e-01 -2.98317241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71719346999998 meters Centerline goodness : 0.861750 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.06, Z:-2.98 [[ 9.99858580e-01 1.68169590e-02 -9.99819467e-05 2.06400117e+01] [-1.68169097e-02 9.99858473e-01 4.74935736e-04 -6.39861728e-02] [ 1.07954771e-04 -4.73187183e-04 9.99999882e-01 -2.97874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74719346999998 meters Centerline goodness : 0.860333 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.07, Z:-2.98 [[ 9.99907765e-01 1.35768841e-02 -3.60369805e-04 2.06404878e+01] [-1.35776440e-02 9.99905405e-01 -2.19745636e-03 -6.63712416e-02] [ 3.30501105e-04 2.20214665e-03 9.99997521e-01 -2.97906086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77719347 meters Centerline goodness : 0.855879 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.07, Z:-2.98 [[ 9.99940890e-01 1.08707828e-02 -2.07684580e-04 2.06395306e+01] [-1.08712895e-02 9.99937478e-01 -2.61820755e-03 -7.49764082e-02] [ 1.79209629e-04 2.62031059e-03 9.99996551e-01 -2.97790886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80719347 meters Centerline goodness : 0.857149 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.08, Z:-2.98 [[ 9.99971810e-01 7.50156784e-03 -3.26076124e-04 2.06394973e+01] [-7.50318435e-03 9.99957929e-01 -5.27666895e-03 -7.87058971e-02] [ 2.86479115e-04 5.27896681e-03 9.99986025e-01 -2.97761819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83719347 meters Centerline goodness : 0.854929 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.08, Z:-2.98 [[ 9.99992012e-01 3.96253707e-03 -5.23334053e-04 2.06397646e+01] [-3.96656703e-03 9.99960625e-01 -7.93814836e-03 -8.29590884e-02] [ 4.91858240e-04 7.94016079e-03 9.99968355e-01 -2.97751259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86719347 meters Centerline goodness : 0.858050 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.09, Z:-2.98 [[ 9.99998419e-01 -1.64719306e-03 -6.69216176e-04 2.06405752e+01] [ 1.63919200e-03 9.99929205e-01 -1.17854935e-02 -9.44459108e-02] [ 6.88581782e-04 1.17843779e-02 9.99930325e-01 -2.97819724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89719347 meters Centerline goodness : 0.860525 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.10, Z:-2.98 [[ 9.99979060e-01 -5.38370939e-03 3.59092255e-03 2.06522020e+01] [ 5.40579136e-03 9.99966364e-01 -6.16829127e-03 -1.00727439e-01] [-3.55759348e-03 6.18757389e-03 9.99974528e-01 -2.98208677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92719347 meters Centerline goodness : 0.859508 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.11, Z:-2.98 [[ 9.99968806e-01 -7.22994080e-03 3.18035246e-03 2.06539991e+01] [ 7.25295734e-03 9.99947152e-01 -7.28610416e-03 -1.05126430e-01] [-3.12750628e-03 7.30894384e-03 9.99968399e-01 -2.98329250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95719347 meters Centerline goodness : 0.859268 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.11, Z:-2.98 [[ 9.99971034e-01 -7.00034998e-03 2.98780150e-03 2.06542739e+01] [ 7.01803437e-03 9.99957671e-01 -5.94999950e-03 -1.09316805e-01] [-2.94602295e-03 5.97079565e-03 9.99977835e-01 -2.98307778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98719347 meters Centerline goodness : 0.866243 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.11, Z:-2.98 [[ 9.99978722e-01 -5.77856695e-03 3.02700445e-03 2.06531495e+01] [ 5.78922657e-03 9.99977031e-01 -3.52466488e-03 -1.14888654e-01] [-3.00656741e-03 3.54211390e-03 9.99989207e-01 -2.98140150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01719347 meters Centerline goodness : 0.861067 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.12, Z:-2.98 [[ 9.99983075e-01 -5.03519003e-03 2.91488074e-03 2.06529567e+01] [ 5.04218966e-03 9.99984410e-01 -2.39899602e-03 -1.17407274e-01] [-2.90275589e-03 2.41365280e-03 9.99992874e-01 -2.98080820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04719347 meters Centerline goodness : 0.860753 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.12, Z:-2.98 [[ 9.99986768e-01 -4.32899256e-03 2.77932221e-03 2.06529348e+01] [ 4.33248630e-03 9.99989831e-01 -1.25225994e-03 -1.20580534e-01] [-2.77387292e-03 1.26428475e-03 9.99995354e-01 -2.98029219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07719347 meters Centerline goodness : 0.861167 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.12, Z:-2.98 [[ 9.99998393e-01 1.87616865e-04 1.78311829e-03 2.06695715e+01] [-1.63028313e-04 9.99905041e-01 -1.37797914e-02 -1.23613458e-01] [-1.78553429e-03 1.37794786e-02 9.99903464e-01 -2.97942973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10719347 meters Centerline goodness : 0.863910 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.13, Z:-2.98 [[ 9.99992521e-01 1.89673489e-03 3.37037487e-03 2.06882006e+01] [-1.85296010e-03 9.99914505e-01 -1.29441041e-02 -1.28713127e-01] [-3.39463826e-03 1.29377622e-02 9.99910541e-01 -2.97978573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13719347 meters Centerline goodness : 0.867109 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.14, Z:-2.98 [[ 9.99990682e-01 2.64546837e-03 3.41149752e-03 2.06885824e+01] [-2.60897806e-03 9.99939812e-01 -1.06567269e-02 -1.35477194e-01] [-3.43948422e-03 1.06477271e-02 9.99937396e-01 -2.98033183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16719347 meters Centerline goodness : 0.868620 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.14, Z:-2.98 [[ 9.99993628e-01 2.02337625e-03 2.94094023e-03 2.06904663e+01] [-1.99201010e-03 9.99941522e-01 -1.06294285e-02 -1.37350568e-01] [-2.96227558e-03 1.06235024e-02 9.99939181e-01 -2.98163860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19719347 meters Centerline goodness : 0.863433 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.14, Z:-2.98 [[ 9.99996596e-01 1.07276253e-03 2.37839610e-03 2.06927899e+01] [-1.04706341e-03 9.99941343e-01 -1.07802763e-02 -1.40087649e-01] [-2.38982127e-03 1.07777493e-02 9.99939063e-01 -2.98323402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22719347 meters Centerline goodness : 0.865950 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.15, Z:-2.98 [[ 9.99986367e-01 -4.86758028e-03 1.88994816e-03 2.06947396e+01] [ 4.89608998e-03 9.99869652e-01 -1.53853112e-02 -1.47538241e-01] [-1.81481258e-03 1.53943548e-02 9.99879853e-01 -2.98455633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25719347 meters Centerline goodness : 0.867386 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.15, Z:-2.98 [[ 9.99961050e-01 -8.66834380e-03 1.66066631e-03 2.06954498e+01] [ 8.69747171e-03 9.99792528e-01 -1.84188583e-02 -1.50925785e-01] [-1.50066077e-03 1.84325845e-02 9.99828979e-01 -2.98489317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28719347 meters Centerline goodness : 0.869055 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.15, Z:-2.99 [[ 9.99919338e-01 -1.26124619e-02 1.49794481e-03 2.06959834e+01] [ 1.26419027e-02 9.99686478e-01 -2.16131506e-02 -1.53803373e-01] [-1.22488013e-03 2.16303441e-02 9.99765286e-01 -2.98508729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31719347 meters Centerline goodness : 0.863079 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99750593e-01 -2.21678296e-02 2.70922256e-03 2.06956134e+01] [ 2.21987298e-02 9.99681988e-01 -1.19640446e-02 -1.60869502e-01] [-2.44314410e-03 1.20212020e-02 9.99924758e-01 -2.98505284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34719347 meters Centerline goodness : 0.864000 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99739274e-01 -2.26872812e-02 2.58271471e-03 2.06959882e+01] [ 2.27155144e-02 9.99676003e-01 -1.14845679e-02 -1.63114407e-01] [-2.32132430e-03 1.15402413e-02 9.99930715e-01 -2.98502548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37719347 meters Centerline goodness : 0.857200 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.98 [[ 9.99727831e-01 -2.32152760e-02 2.30543829e-03 2.06965325e+01] [ 2.32398729e-02 9.99666203e-01 -1.12867235e-02 -1.64682224e-01] [-2.04264434e-03 1.13372297e-02 9.99933645e-01 -2.98491640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40719347 meters Centerline goodness : 0.856488 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.17, Z:-2.98 [[ 9.99721315e-01 -2.35131309e-02 2.10364810e-03 2.06969480e+01] [ 2.35350604e-02 9.99661497e-01 -1.10901936e-02 -1.65696064e-01] [-1.84217083e-03 1.11366124e-02 9.99936289e-01 -2.98484476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43719346999998 meters Centerline goodness : 0.855941 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.17, Z:-2.98 [[ 9.99708987e-01 -2.40593267e-02 1.75806845e-03 2.06977787e+01] [ 2.40778929e-02 9.99644651e-01 -1.14379178e-02 -1.65864494e-01] [-1.48225512e-03 1.14769198e-02 9.99933039e-01 -2.98496633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46719346999998 meters Centerline goodness : 0.856629 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99684657e-01 -2.50765591e-02 1.32383196e-03 2.06987943e+01] [ 2.50912318e-02 9.99606178e-01 -1.25666157e-02 -1.63696736e-01] [-1.00818312e-03 1.25958694e-02 9.99920161e-01 -2.98501287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49719346999998 meters Centerline goodness : 0.855479 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99726353e-01 -2.33861282e-02 5.54755203e-04 2.07013928e+01] [ 2.33907178e-02 9.99669470e-01 -1.06689074e-02 -1.61964081e-01] [-3.05067403e-04 1.06789640e-02 9.99942932e-01 -2.98643982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52719347 meters Centerline goodness : 0.855405 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99795905e-01 -2.02009823e-02 2.61341226e-04 2.07018880e+01] [ 2.02023755e-02 9.99767717e-01 -7.50841955e-03 -1.60054830e-01] [-1.09603070e-04 7.51216683e-03 9.99971777e-01 -2.98640169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55719347 meters Centerline goodness : 0.857357 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.16, Z:-2.99 [[ 9.99838034e-01 -1.79887066e-02 -5.58480819e-04 2.07041630e+01] [ 1.79852927e-02 9.99822503e-01 -5.61169050e-03 -1.56872747e-01] [ 6.59328745e-04 5.60073716e-03 9.99984098e-01 -2.98739257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58719347 meters Centerline goodness : 0.852701 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.15, Z:-2.99 [[ 9.99846270e-01 -1.74814570e-02 1.35460446e-03 2.07230061e+01] [ 1.74964064e-02 9.99775547e-01 -1.19470370e-02 -1.47593918e-01] [-1.14544881e-03 1.19689010e-02 9.99927714e-01 -2.98963973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61719347 meters Centerline goodness : 0.858256 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.15, Z:-2.99 [[ 9.99898073e-01 -1.42390107e-02 1.04581906e-03 2.07233097e+01] [ 1.42477482e-02 9.99859014e-01 -8.88564937e-03 -1.45325765e-01] [-9.19148756e-04 8.89964425e-03 9.99959975e-01 -2.98923306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64719347 meters Centerline goodness : 0.847533 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.14, Z:-2.99 [[ 9.99930498e-01 -1.17738073e-02 6.13607054e-04 2.07244672e+01] [ 1.17776671e-02 9.99908057e-01 -6.72040520e-03 -1.41945367e-01] [-5.34425882e-04 6.72716498e-03 9.99977230e-01 -2.98951310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67719347 meters Centerline goodness : 0.858115 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.14, Z:-2.99 [[ 9.99958195e-01 -9.14255524e-03 1.50743383e-04 2.07252279e+01] [ 9.14312278e-03 9.99948808e-01 -4.33410447e-03 -1.38776423e-01] [-1.11110877e-04 4.33530155e-03 9.99990596e-01 -2.98924618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70719347 meters Centerline goodness : 0.859435 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.13, Z:-2.99 [[ 9.99971949e-01 -7.48118263e-03 -3.63785480e-04 2.07253078e+01] [ 7.47968504e-03 9.99964197e-01 -3.95714148e-03 -1.30008132e-01] [ 3.93376554e-04 3.95430948e-03 9.99992104e-01 -2.98781949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73719347 meters Centerline goodness : 0.860037 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.13, Z:-2.99 [[ 9.99982744e-01 -3.69059967e-03 4.57079038e-03 2.07367025e+01] [ 3.73719379e-03 9.99940713e-01 -1.02276483e-02 -1.25490814e-01] [-4.53277323e-03 1.02445538e-02 9.99937250e-01 -2.99148290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76719347 meters Centerline goodness : 0.855379 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.12, Z:-2.99 [[ 9.99990620e-01 -5.90342620e-04 4.29090670e-03 2.07372591e+01] [ 6.23317426e-04 9.99970256e-01 -7.68754016e-03 -1.22282932e-01] [-4.28624079e-03 7.69014265e-03 9.99961244e-01 -2.99133538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79719347 meters Centerline goodness : 0.854748 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.12, Z:-2.99 [[ 9.99987648e-01 2.69521557e-03 4.17620159e-03 2.07374029e+01] [-2.67361183e-03 9.99983061e-01 -5.17003654e-03 -1.18483393e-01] [-4.19006521e-03 5.15880714e-03 9.99977915e-01 -2.99097798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82719347 meters Centerline goodness : 0.858937 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.11, Z:-2.99 [[ 9.99910336e-01 8.42135474e-03 1.04115677e-02 2.07474122e+01] [-8.31818600e-03 9.99916267e-01 -9.91295860e-03 -1.05890173e-01] [-1.04941765e-02 9.82546441e-03 9.99896661e-01 -2.99307586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85719347 meters Centerline goodness : 0.861066 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.10, Z:-3.00 [[ 9.99801075e-01 1.22230249e-02 1.57609569e-02 2.07590789e+01] [-1.19689885e-02 9.99798538e-01 -1.61129121e-02 -9.96498660e-02] [-1.59547302e-02 1.59210641e-02 9.99745951e-01 -2.99690018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88719347 meters Centerline goodness : 0.862263 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.10, Z:-3.00 [[ 9.99756267e-01 1.56339492e-02 1.55879895e-02 2.07596847e+01] [-1.54209489e-02 9.99787336e-01 -1.36922098e-02 -9.53846660e-02] [-1.57987378e-02 1.34484910e-02 9.99784746e-01 -2.99681292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91719347 meters Centerline goodness : 0.864146 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.09, Z:-3.00 [[ 9.99564377e-01 2.16270268e-02 2.00830149e-02 2.07730541e+01] [-2.12627499e-02 9.99608645e-01 -1.81783276e-02 -8.53781244e-02] [-2.04682985e-02 1.77433886e-02 9.99633043e-01 -3.00063070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94719347 meters Centerline goodness : 0.864146 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.09, Z:-3.00 [[ 9.99564377e-01 2.16270268e-02 2.00830149e-02 2.07730541e+01] [-2.12627499e-02 9.99608645e-01 -1.81783276e-02 -8.53781244e-02] [-2.04682985e-02 1.77433886e-02 9.99633043e-01 -3.00063070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97719347 meters Centerline goodness : 0.863433 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.08, Z:-3.00 [[ 9.99481525e-01 2.52851729e-02 1.99334430e-02 2.07737843e+01] [-2.49796322e-02 9.99568860e-01 -1.54308788e-02 -8.24552864e-02] [-2.03150213e-02 1.49249482e-02 9.99682222e-01 -3.00062703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00719347 meters Centerline goodness : 0.862694 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.08, Z:-3.00 [[ 9.99385000e-01 2.91104331e-02 1.95500340e-02 2.07748792e+01] [-2.88674502e-02 9.99503856e-01 -1.25981077e-02 -8.00289070e-02] [-1.99070707e-02 1.20260002e-02 9.99729505e-01 -3.00052985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03719347 meters Centerline goodness : 0.863275 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99270386e-01 3.29873128e-02 1.92492191e-02 2.07760764e+01] [-3.28139267e-02 9.99418627e-01 -9.25490653e-03 -7.85410733e-02] [-1.95433226e-02 8.61651156e-03 9.99771881e-01 -3.00091006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06719347 meters Centerline goodness : 0.862558 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99166149e-01 3.63264273e-02 1.86385979e-02 2.07785683e+01] [-3.62163047e-02 9.99324665e-01 -6.21232718e-03 -7.72367542e-02] [-1.88516822e-02 5.53212588e-03 9.99806986e-01 -3.00242493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09719347 meters Centerline goodness : 0.862915 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99132482e-01 3.76649570e-02 1.77660812e-02 2.07803219e+01] [-3.75491983e-02 9.99271609e-01 -6.80501760e-03 -7.42200243e-02] [-1.80094512e-02 6.13201203e-03 9.99819013e-01 -3.00211120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12719347 meters Centerline goodness : 0.862625 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99133225e-01 3.77869448e-02 1.74627104e-02 2.07806485e+01] [-3.76752310e-02 9.99267691e-01 -6.68269722e-03 -7.46181537e-02] [-1.77024410e-02 6.01899317e-03 9.99825182e-01 -3.00172218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15719347 meters Centerline goodness : 0.865509 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99205947e-01 3.56802378e-02 1.77312166e-02 2.07785488e+01] [-3.55335357e-02 9.99332157e-01 -8.52106170e-03 -7.70114743e-02] [-1.80234084e-02 7.88424271e-03 9.99806479e-01 -2.99971775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18719346999998 meters Centerline goodness : 0.867881 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99215570e-01 3.54940052e-02 1.75618950e-02 2.07788928e+01] [-3.53603661e-02 9.99343697e-01 -7.86259012e-03 -7.92371193e-02] [-1.78294439e-02 7.23542743e-03 9.99814863e-01 -3.00001645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21719346999998 meters Centerline goodness : 0.867996 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99230046e-01 3.51415924e-02 1.74465813e-02 2.07794743e+01] [-3.50267583e-02 9.99362936e-01 -6.84464187e-03 -8.25701090e-02] [-1.76759983e-02 6.22827462e-03 9.99824368e-01 -3.00098106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24719346999998 meters Centerline goodness : 0.867494 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.09, Z:-3.00 [[ 9.99250094e-01 3.45136965e-02 1.75514527e-02 2.07794188e+01] [-3.44171395e-02 9.99390875e-01 -5.77407475e-03 -8.65512633e-02] [-1.77400464e-02 5.16567394e-03 9.99829289e-01 -3.00167835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27719347 meters Centerline goodness : 0.870193 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.09, Z:-3.00 [[ 9.99399854e-01 2.96030160e-02 1.79886966e-02 2.07784607e+01] [-2.94687006e-02 9.99536149e-01 -7.68646751e-03 -9.34417958e-02] [-1.82078951e-02 7.15175099e-03 9.99808644e-01 -3.00231891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30719347 meters Centerline goodness : 0.873435 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99506781e-01 2.56342535e-02 1.81405655e-02 2.07776959e+01] [-2.54428610e-02 9.99618972e-01 -1.07038564e-02 -9.60828063e-02] [-1.84080388e-02 1.02370292e-02 9.99778149e-01 -3.00212294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33719347 meters Centerline goodness : 0.873994 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99608242e-01 2.13295411e-02 1.81221664e-02 2.07772637e+01] [-2.10714708e-02 9.99675496e-01 -1.43141657e-02 -9.78142660e-02] [-1.84216003e-02 1.39266974e-02 9.99733310e-01 -3.00178995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36719347 meters Centerline goodness : 0.877619 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99629009e-01 1.98271707e-02 1.86742414e-02 2.07753534e+01] [-1.95625765e-02 9.99707127e-01 -1.42466222e-02 -1.00509165e-01] [-1.89512425e-02 1.38760206e-02 9.99724115e-01 -3.00085801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39719347 meters Centerline goodness : 0.880388 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.10, Z:-3.00 [[ 9.99704696e-01 1.50687354e-02 1.90644725e-02 2.07743477e+01] [-1.47398542e-02 9.99742114e-01 -1.72754825e-02 -1.03515376e-01] [-1.93198757e-02 1.69893735e-02 9.99668997e-01 -3.00082663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42719347 meters Centerline goodness : 0.881256 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99712926e-01 1.41480245e-02 1.93364474e-02 2.07739058e+01] [-1.38298687e-02 9.99768388e-01 -1.64895438e-02 -1.06394943e-01] [-1.95652634e-02 1.62173896e-02 9.99677046e-01 -3.00141307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45719347 meters Centerline goodness : 0.880626 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99724344e-01 1.32776296e-02 1.93633914e-02 2.07741965e+01] [-1.29622905e-02 9.99782780e-01 -1.63209046e-02 -1.08940999e-01] [-1.95758882e-02 1.60654117e-02 9.99679292e-01 -3.00183659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48719347 meters Centerline goodness : 0.883420 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99769686e-01 8.80378847e-03 1.95721366e-02 2.07737182e+01] [-8.39867045e-03 9.99750757e-01 -2.06854302e-02 -1.07924883e-01] [-1.97493685e-02 2.05162861e-02 9.99594440e-01 -3.00151692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51719347 meters Centerline goodness : 0.887334 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99773794e-01 8.44385307e-03 1.95208328e-02 2.07737023e+01] [-8.03352416e-03 9.99747120e-01 -2.10037590e-02 -1.07035912e-01] [-1.96932490e-02 2.08421867e-02 9.99588805e-01 -3.00122633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54719347 meters Centerline goodness : 0.885768 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.11, Z:-3.00 [[ 9.99777700e-01 8.12383183e-03 1.94564395e-02 2.07738995e+01] [-7.70640695e-03 9.99740563e-01 -2.14340543e-02 -1.05962050e-01] [-1.96255184e-02 2.12793503e-02 9.99580926e-01 -3.00124027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57719347 meters Centerline goodness : 0.886529 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.10, Z:-3.00 [[ 9.99784716e-01 7.86824321e-03 1.91993066e-02 2.07747259e+01] [-7.44617966e-03 9.99731195e-01 -2.19566038e-02 -1.04726006e-01] [-1.93669056e-02 2.18089154e-02 9.99574557e-01 -3.00165444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60719347 meters Centerline goodness : 0.885064 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99774415e-01 9.76164714e-03 1.88634268e-02 2.07767135e+01] [-9.37553347e-03 9.99746915e-01 -2.04500555e-02 -1.01152969e-01] [-1.90582790e-02 2.02685876e-02 9.99612908e-01 -3.00316916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63719347 meters Centerline goodness : 0.885872 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.10, Z:-3.00 [[ 9.99761460e-01 1.16417907e-02 1.84794784e-02 2.07785615e+01] [-1.12951309e-02 9.99760325e-01 -1.87539870e-02 -9.78807053e-02] [-1.86933793e-02 1.85407853e-02 9.99653338e-01 -3.00440103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66719347 meters Centerline goodness : 0.884792 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.09, Z:-3.00 [[ 9.99720203e-01 1.44436004e-02 1.87322897e-02 2.07783562e+01] [-1.41290045e-02 9.99758712e-01 -1.68193056e-02 -9.38737071e-02] [-1.89707011e-02 1.65499310e-02 9.99683056e-01 -3.00398494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69719347 meters Centerline goodness : 0.884841 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99692938e-01 1.63259611e-02 1.86411578e-02 2.07792063e+01] [-1.59985429e-02 9.99717449e-01 -1.75803411e-02 -8.34714127e-02] [-1.89229067e-02 1.72767115e-02 9.99671666e-01 -3.00333671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72719347 meters Centerline goodness : 0.886769 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.08, Z:-3.00 [[ 9.99678922e-01 1.76278836e-02 1.82019366e-02 2.07812914e+01] [-1.73220482e-02 9.99708382e-01 -1.68254951e-02 -7.87055608e-02] [-1.84932264e-02 1.65047980e-02 9.99692749e-01 -3.00453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75719347 meters Centerline goodness : 0.885417 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99633463e-01 1.95600996e-02 1.87174470e-02 2.07801278e+01] [-1.92719627e-02 9.99694859e-01 -1.54525445e-02 -7.47546765e-02] [-1.90139889e-02 1.50861586e-02 9.99705395e-01 -3.00369006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78719347 meters Centerline goodness : 0.881791 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:-3.00 [[ 9.99658905e-01 1.84686971e-02 1.84656944e-02 2.07808970e+01] [-1.81383692e-02 9.99675260e-01 -1.78989913e-02 -6.98117914e-02] [-1.87902689e-02 1.75579485e-02 9.99669267e-01 -3.00359614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81719347 meters Centerline goodness : 0.887658 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.06, Z:-3.00 [[ 9.99691005e-01 1.62460820e-02 1.88138242e-02 2.07809304e+01] [-1.58290653e-02 9.99630310e-01 -2.21061838e-02 -6.15729946e-02] [-1.91660078e-02 2.18015478e-02 9.99578590e-01 -3.00368298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84719347 meters Centerline goodness : 0.884008 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.06, Z:-3.00 [[ 9.99704300e-01 1.52921996e-02 1.89066278e-02 2.07812207e+01] [-1.48338303e-02 9.99598265e-01 -2.41509088e-02 -5.68249454e-02] [-1.92683529e-02 2.38633097e-02 9.99529526e-01 -3.00390668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87719347 meters Centerline goodness : 0.885825 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.05, Z:-3.01 [[ 9.99702922e-01 1.57259941e-02 1.86215136e-02 2.07832792e+01] [-1.52786432e-02 9.99596956e-01 -2.39267160e-02 -5.15262173e-02] [-1.89902797e-02 2.36350964e-02 9.99540270e-01 -3.00551038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90719347 meters Centerline goodness : 0.877496 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.05, Z:-3.01 [[ 9.99671086e-01 1.71216239e-02 1.90937281e-02 2.07827945e+01] [-1.66805831e-02 9.99595755e-01 -2.30235817e-02 -4.59257593e-02] [-1.94802106e-02 2.26975144e-02 9.99552572e-01 -3.00545236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93719346999998 meters Centerline goodness : 0.880790 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.04, Z:-3.00 [[ 9.99643437e-01 1.81450258e-02 1.95897273e-02 2.07817554e+01] [-1.77055916e-02 9.99592809e-01 -2.23769757e-02 -4.08271846e-02] [-1.99877813e-02 2.20221492e-02 9.99557659e-01 -3.00472861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96719346999998 meters Centerline goodness : 0.879711 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.03, Z:-3.00 [[ 9.99639342e-01 1.75635878e-02 2.03151907e-02 2.07803488e+01] [-1.70648660e-02 9.99554969e-01 -2.44674085e-02 -3.00795526e-02] [-2.07358853e-02 2.41119081e-02 9.99494192e-01 -3.00355533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99719346999998 meters Centerline goodness : 0.871157 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.02, Z:-3.00 [[ 9.99589551e-01 1.97490087e-02 2.07534399e-02 2.07796065e+01] [-1.92676625e-02 9.99546475e-01 -2.31430532e-02 -2.46183277e-02] [-2.12010801e-02 2.27336839e-02 9.99516730e-01 -3.00298646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02719347 meters Centerline goodness : 0.871799 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.02, Z:-3.00 [[ 9.99532906e-01 2.23682847e-02 2.08237892e-02 2.07796703e+01] [-2.19190750e-02 9.99527337e-01 -2.15558888e-02 -1.87735029e-02] [-2.12961148e-02 2.10893820e-02 9.99550756e-01 -3.00263467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05719347 meters Centerline goodness : 0.870814 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.01, Z:-3.00 [[ 9.99422944e-01 2.70583974e-02 2.05334349e-02 2.07812003e+01] [-2.66670412e-02 9.99461889e-01 -1.90997823e-02 -5.51715245e-03] [-2.10391951e-02 1.85411947e-02 9.99606711e-01 -3.00270433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08719347 meters Centerline goodness : 0.875553 Centerline is valid? [False, False] Translation: X:20.78, Y:0.00, Z:-3.00 [[ 9.99344031e-01 2.98775002e-02 2.04656409e-02 2.07817458e+01] [-2.95170100e-02 9.99407629e-01 -1.76957002e-02 1.62615164e-03] [-2.09822209e-02 1.70800079e-02 9.99633943e-01 -3.00267485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11719347 meters Centerline goodness : 0.872855 Centerline is valid? [False, False] Translation: X:20.78, Y:0.01, Z:-3.00 [[ 9.99255587e-01 3.26865557e-02 2.04905291e-02 2.07817163e+01] [-3.23504029e-02 9.99339927e-01 -1.65276051e-02 9.53503508e-03] [-2.10172343e-02 1.58524249e-02 9.99653428e-01 -3.00200206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14719347 meters Centerline goodness : 0.871891 Centerline is valid? [False, False] Translation: X:20.78, Y:0.02, Z:-3.00 [[ 9.99158548e-01 3.54968147e-02 2.05468334e-02 2.07818430e+01] [-3.51880387e-02 9.99265120e-01 -1.51993811e-02 1.71766928e-02] [-2.10712636e-02 1.44635888e-02 9.99673350e-01 -3.00149727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17719347 meters Centerline goodness : 0.874094 Centerline is valid? [False, False] Translation: X:20.78, Y:0.03, Z:-3.00 [[ 9.99008711e-01 3.94726508e-02 2.05792283e-02 2.07820430e+01] [-3.91979250e-02 9.99139094e-01 -1.35865148e-02 3.15164449e-02] [-2.10978072e-02 1.27663836e-02 9.99695905e-01 -3.00031742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20719347 meters Centerline goodness : 0.871202 Centerline is valid? [False, False] Translation: X:20.78, Y:0.04, Z:-3.00 [[ 9.98910781e-01 4.18627818e-02 2.06096881e-02 2.07824676e+01] [-4.16206189e-02 9.99060915e-01 -1.20421132e-02 3.68565172e-02] [-2.10944502e-02 1.11712088e-02 9.99715074e-01 -3.00043270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23719347 meters Centerline goodness : 0.872547 Centerline is valid? [False, False] Translation: X:20.78, Y:0.04, Z:-3.00 [[ 9.98846092e-01 4.35018054e-02 2.03489011e-02 2.07840204e+01] [-4.32810964e-02 9.99000557e-01 -1.11639364e-02 4.24962445e-02] [-2.08142149e-02 1.02703315e-02 9.99730608e-01 -3.00140853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26719347 meters Centerline goodness : 0.872851 Centerline is valid? [False, False] Translation: X:20.78, Y:0.05, Z:-3.00 [[ 9.98750115e-01 4.55776983e-02 2.05153931e-02 2.07844435e+01] [-4.53834569e-02 9.98921212e-01 -9.83635964e-03 4.81849281e-02] [-2.09415800e-02 8.89300586e-03 9.99741149e-01 -3.00177457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29719347 meters Centerline goodness : 0.873814 Centerline is valid? [False, False] Translation: X:20.79, Y:0.05, Z:-3.00 [[ 9.98684170e-01 4.71535209e-02 2.01612129e-02 2.07862530e+01] [-4.69776470e-02 9.98854398e-01 -9.11003353e-03 5.49305911e-02] [-2.05676863e-02 8.15091992e-03 9.99755236e-01 -3.00278817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32719347 meters Centerline goodness : 0.874044 Centerline is valid? [False, False] Translation: X:20.79, Y:0.07, Z:-3.00 [[ 9.98659059e-01 4.79734016e-02 1.94585863e-02 2.07895066e+01] [-4.77992770e-02 9.98813505e-01 -9.31724338e-03 6.85448756e-02] [-1.98824786e-02 8.37464315e-03 9.99767249e-01 -3.00424654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35719347 meters Centerline goodness : 0.876558 Centerline is valid? [False, False] Translation: X:20.79, Y:0.07, Z:-3.01 [[ 9.98554630e-01 5.00628083e-02 1.95542041e-02 2.07903183e+01] [-4.99201943e-02 9.98723413e-01 -7.71484608e-03 7.32285641e-02] [-1.99154683e-02 6.72754560e-03 9.99779033e-01 -3.00503117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38719347 meters Centerline goodness : 0.877557 Centerline is valid? [False, False] Translation: X:20.79, Y:0.08, Z:-3.01 [[ 9.98615421e-01 4.89896489e-02 1.91639089e-02 2.07917962e+01] [-4.88061750e-02 9.98758931e-01 -9.92753476e-03 7.92730285e-02] [-1.96264716e-02 8.97847221e-03 9.99767067e-01 -3.00578584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41719347 meters Centerline goodness : 0.878427 Centerline is valid? [False, False] Translation: X:20.79, Y:0.09, Z:-3.01 [[ 9.98618736e-01 4.87456008e-02 1.96083500e-02 2.07916198e+01] [-4.85237788e-02 9.98754271e-01 -1.16339391e-02 9.13482520e-02] [-2.01510267e-02 1.06663983e-02 9.99740048e-01 -3.00578571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44719347 meters Centerline goodness : 0.882439 Centerline is valid? [False, False] Translation: X:20.79, Y:0.10, Z:-3.01 [[ 9.98682652e-01 4.74972691e-02 1.94157117e-02 2.07917130e+01] [-4.72274261e-02 9.98784240e-01 -1.41283838e-02 9.81433449e-02] [-2.00631665e-02 1.31928177e-02 9.99711668e-01 -3.00502115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47719347 meters Centerline goodness : 0.883881 Centerline is valid? [False, False] Translation: X:20.79, Y:0.10, Z:-3.00 [[ 9.98613382e-01 4.86293719e-02 2.01618017e-02 2.07892952e+01] [-4.83575327e-02 9.98735329e-01 -1.37583190e-02 1.04744702e-01] [-2.08053620e-02 1.27642665e-02 9.99702061e-01 -3.00289807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50719347 meters Centerline goodness : 0.877615 Centerline is valid? [False, False] Translation: X:20.79, Y:0.12, Z:-3.00 [[ 9.98582713e-01 4.91451221e-02 2.04284847e-02 2.07885697e+01] [-4.88530695e-02 9.98699877e-01 -1.45579421e-02 1.19546110e-01] [-2.11173770e-02 1.35393151e-02 9.99685322e-01 -3.00153785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53719347 meters Centerline goodness : 0.884718 Centerline is valid? [False, False] Translation: X:20.79, Y:0.13, Z:-3.00 [[ 9.98453545e-01 5.16984570e-02 2.04398853e-02 2.07893957e+01] [-5.14387920e-02 9.98591114e-01 -1.30321457e-02 1.25404896e-01] [-2.10848296e-02 1.19605890e-02 9.99706144e-01 -3.00182678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56719347 meters Centerline goodness : 0.879776 Centerline is valid? [False, False] Translation: X:20.79, Y:0.13, Z:-3.00 [[ 9.98307841e-01 5.44792230e-02 2.03339300e-02 2.07906694e+01] [-5.42507170e-02 9.98459668e-01 -1.16254361e-02 1.31865996e-01] [-2.09359537e-02 1.05026337e-02 9.99725653e-01 -3.00235565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59719347 meters Centerline goodness : 0.881190 Centerline is valid? [False, False] Translation: X:20.79, Y:0.14, Z:-3.00 [[ 9.98112999e-01 5.79479276e-02 2.03095615e-02 2.07918429e+01] [-5.77551782e-02 9.98281167e-01 -9.95248303e-03 1.39098041e-01] [-2.08513785e-02 8.76072034e-03 9.99744202e-01 -3.00279479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62719347 meters Centerline goodness : 0.880945 Centerline is valid? [False, False] Translation: X:20.80, Y:0.15, Z:-3.00 [[ 9.97349573e-01 7.08160105e-02 1.67009665e-02 2.08001600e+01] [-7.07196023e-02 9.97476371e-01 -6.29497053e-03 1.54848486e-01] [-1.71046042e-02 5.09720046e-03 9.99840713e-01 -3.00359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65719347 meters Centerline goodness : 0.880512 Centerline is valid? [False, False] Translation: X:20.80, Y:0.16, Z:-3.00 [[ 9.96763345e-01 7.85727053e-02 1.70048082e-02 2.08012608e+01] [-7.85842068e-02 9.96907479e-01 8.18892280e-06 1.60948569e-01] [-1.69515771e-02 -1.34447178e-03 9.99855408e-01 -3.00387109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68719346999998 meters Centerline goodness : 0.882484 Centerline is valid? [False, False] Translation: X:20.80, Y:0.17, Z:-3.00 [[ 9.96135569e-01 8.61058119e-02 1.73123422e-02 2.08022490e+01] [-8.62249016e-02 9.96256075e-01 6.25295207e-03 1.66633364e-01] [-1.67091106e-02 -7.72154297e-03 9.99830577e-01 -3.00392733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71719346999998 meters Centerline goodness : 0.880557 Centerline is valid? [False, False] Translation: X:20.80, Y:0.18, Z:-3.00 [[ 9.95019814e-01 9.80790137e-02 1.77785646e-02 2.08048489e+01] [-9.83597760e-02 9.95027525e-01 1.56709907e-02 1.75943891e-01] [-1.61531659e-02 -1.73416418e-02 9.99719132e-01 -3.00483208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74719346999998 meters Centerline goodness : 0.882323 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94621990e-01 1.02019150e-01 1.78658748e-02 2.08057513e+01] [-1.02354319e-01 9.94567048e-01 1.89731306e-02 1.78449267e-01] [-1.58331877e-02 -2.06997424e-02 9.99660358e-01 -3.00519722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77719347 meters Centerline goodness : 0.882756 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94600766e-01 1.02306422e-01 1.73986040e-02 2.08070395e+01] [-1.02622009e-01 9.94551519e-01 1.83303112e-02 1.81011494e-01] [-1.54284995e-02 -2.00168213e-02 9.99680593e-01 -3.00562072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80719347 meters Centerline goodness : 0.881471 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94597098e-01 1.02380378e-01 1.71718273e-02 2.08078129e+01] [-1.02687621e-01 9.94549320e-01 1.80804476e-02 1.81908406e-01] [-1.52271461e-02 -1.97460948e-02 9.99689065e-01 -3.00609479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83719347 meters Centerline goodness : 0.881719 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94985504e-01 9.86593583e-02 1.64370601e-02 2.08086886e+01] [-9.88863401e-02 9.95005525e-01 1.36197298e-02 1.83677876e-01] [-1.50112518e-02 -1.51768344e-02 9.99772137e-01 -3.00627660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86719347 meters Centerline goodness : 0.881719 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.94985504e-01 9.86593583e-02 1.64370601e-02 2.08086886e+01] [-9.88863401e-02 9.95005525e-01 1.36197298e-02 1.83677876e-01] [-1.50112518e-02 -1.51768344e-02 9.99772137e-01 -3.00627660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89719347 meters Centerline goodness : 0.875875 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.95375123e-01 9.47202355e-02 1.60137787e-02 2.08087701e+01] [-9.48840022e-02 9.95440149e-01 9.79469319e-03 1.83102070e-01] [-1.50130026e-02 -1.12688454e-02 9.99823796e-01 -3.00623164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92719347 meters Centerline goodness : 0.880223 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.95730411e-01 9.10112433e-02 1.54240680e-02 2.08090813e+01] [-9.11134627e-02 9.95822091e-01 6.05800243e-03 1.82735850e-01] [-1.48082813e-02 -7.43747749e-03 9.99862690e-01 -3.00599349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95719347 meters Centerline goodness : 0.881379 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.96082514e-01 8.71768444e-02 1.48264338e-02 2.08094288e+01] [-8.72206549e-02 9.96186285e-01 2.33316528e-03 1.82015063e-01] [-1.45664920e-02 -3.61719641e-03 9.99887360e-01 -3.00581665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98719347 meters Centerline goodness : 0.875713 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.96487035e-01 8.24941392e-02 1.44327922e-02 2.08093509e+01] [-8.24911305e-02 9.96591474e-01 -8.04672134e-04 1.77853278e-01] [-1.44499784e-02 -3.88731996e-04 9.99895518e-01 -3.00598414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01719347 meters Centerline goodness : 0.874161 Centerline is valid? [False, False] Translation: X:20.81, Y:0.18, Z:-3.01 [[ 9.96801744e-01 7.86916920e-02 1.39248063e-02 2.08098675e+01] [-7.86386267e-02 9.96893832e-01 -4.31906301e-03 1.76423039e-01] [-1.42214278e-02 3.21022190e-03 9.99893717e-01 -3.00625073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04719347 meters Centerline goodness : 0.872008 Centerline is valid? [False, False] Translation: X:20.82, Y:0.17, Z:-3.01 [[ 9.96957334e-01 7.56436461e-02 1.88178925e-02 2.08168026e+01] [-7.57790812e-02 9.97102853e-01 6.59029296e-03 1.71002361e-01] [-1.82648605e-02 -7.99624350e-03 9.99801208e-01 -3.00782412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07719347 meters Centerline goodness : 0.871619 Centerline is valid? [False, False] Translation: X:20.82, Y:0.17, Z:-3.01 [[ 9.97149006e-01 7.23651111e-02 2.13810692e-02 2.08243452e+01] [-7.27339727e-02 9.97206337e-01 1.70085601e-02 1.66797669e-01] [-2.00905114e-02 -1.85151989e-02 9.99626710e-01 -3.00781601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10719347 meters Centerline goodness : 0.875468 Centerline is valid? [False, False] Translation: X:20.83, Y:0.16, Z:-3.01 [[ 0.99726356 0.06972954 0.02455982 20.8308526 ] [-0.07042259 0.99710762 0.02858414 0.16309268] [-0.02249562 -0.03023549 0.99928963 -3.00673028] [ 0. 0. 0. 1. ]] SLAMing on 203.13719347 meters Centerline goodness : 0.871588 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97557131e-01 6.62575350e-02 2.21293703e-02 2.08377036e+01] [-6.70330368e-02 9.97087900e-01 3.63633232e-02 1.61067490e-01] [-1.96555832e-02 -3.77578913e-02 9.99093589e-01 -3.00270462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16719347 meters Centerline goodness : 0.868624 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97375666e-01 6.87151281e-02 2.28037929e-02 2.08359564e+01] [-6.95800372e-02 9.96790378e-01 3.95924237e-02 1.60312546e-01] [-2.00100029e-02 -4.10752087e-02 9.98955668e-01 -3.00133925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19719347 meters Centerline goodness : 0.867385 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97374172e-01 6.88822275e-02 2.23606530e-02 2.08371384e+01] [-6.97236496e-02 9.96790819e-01 3.93278019e-02 1.61635666e-01] [-1.95799070e-02 -4.07836002e-02 9.98976138e-01 -3.00176299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22719347 meters Centerline goodness : 0.866214 Centerline is valid? [False, False] Translation: X:20.84, Y:0.16, Z:-3.00 [[ 9.97367353e-01 6.90932287e-02 2.20110870e-02 2.08381562e+01] [-6.99113067e-02 9.96795924e-01 3.88625138e-02 1.64068275e-01] [-1.92554252e-02 -4.02990264e-02 9.99002111e-01 -3.00192976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25719347 meters Centerline goodness : 0.866735 Centerline is valid? [False, False] Translation: X:20.84, Y:0.17, Z:-3.00 [[ 9.96931597e-01 7.51922759e-02 2.17603627e-02 2.08411629e+01] [-7.60918668e-02 9.96130280e-01 4.39828768e-02 1.66620535e-01] [-1.83689836e-02 -4.55037063e-02 9.98795271e-01 -3.00402995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28719347 meters Centerline goodness : 0.864329 Centerline is valid? [False, False] Translation: X:20.84, Y:0.17, Z:-3.01 [[ 9.96782837e-01 7.72703756e-02 2.12900211e-02 2.08437927e+01] [-7.81679750e-02 9.95916400e-01 4.51695906e-02 1.67746323e-01] [-1.77128099e-02 -4.66884705e-02 9.98752443e-01 -3.00580734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31719347 meters Centerline goodness : 0.864052 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.96639638e-01 7.92181572e-02 2.08306219e-02 2.08463523e+01] [-8.01115720e-02 9.95711113e-01 4.62765168e-02 1.68258373e-01] [-1.70753413e-02 -4.77897848e-02 9.98711454e-01 -3.00765122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34719347 meters Centerline goodness : 0.862878 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.96500526e-01 8.10910490e-02 2.02717390e-02 2.08487622e+01] [-8.19754625e-02 9.95503511e-01 4.74634927e-02 1.68316980e-01] [-1.63317230e-02 -4.89591806e-02 9.98667249e-01 -3.00905114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37719347 meters Centerline goodness : 0.870281 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.96047696e-01 8.64990498e-02 2.01717917e-02 2.08496247e+01] [-8.74504251e-02 9.94791702e-01 5.23630954e-02 1.68279654e-01] [-1.55373730e-02 -5.39201723e-02 9.98424361e-01 -3.00873064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40719347 meters Centerline goodness : 0.869755 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.95977390e-01 8.74232941e-02 1.96521388e-02 2.08506852e+01] [-8.83508461e-02 9.94693211e-01 5.27213874e-02 1.69258224e-01] [-1.49387716e-02 -5.42455929e-02 9.98415870e-01 -3.00859150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43719346999998 meters Centerline goodness : 0.867410 Centerline is valid? [False, False] Translation: X:20.85, Y:0.17, Z:-3.01 [[ 9.95741473e-01 9.01577670e-02 1.92482473e-02 2.08529481e+01] [-9.10967030e-02 9.94305517e-01 5.52985520e-02 1.66382898e-01] [-1.41530445e-02 -5.68165136e-02 9.98284316e-01 -3.00997791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46719346999998 meters Centerline goodness : 0.862333 Centerline is valid? [False, False] Translation: X:20.85, Y:0.16, Z:-3.01 [[ 9.95955932e-01 8.79490205e-02 1.83508001e-02 2.08547660e+01] [-8.88055158e-02 9.94652070e-01 5.27336662e-02 1.64670266e-01] [-1.36147870e-02 -5.41500599e-02 9.98439987e-01 -3.01069624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49719346999998 meters Centerline goodness : 0.863509 Centerline is valid? [False, False] Translation: X:20.86, Y:0.16, Z:-3.01 [[ 9.96232637e-01 8.48782314e-02 1.77825648e-02 2.08553740e+01] [-8.56662520e-02 9.95087959e-01 4.96109506e-02 1.62639075e-01] [-1.34843264e-02 -5.09474138e-02 9.98610301e-01 -3.01086113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52719347 meters Centerline goodness : 0.857499 Centerline is valid? [False, False] Translation: X:20.86, Y:0.16, Z:-3.01 [[ 9.96517332e-01 8.15852934e-02 1.72350245e-02 2.08558371e+01] [-8.23078199e-02 9.95522177e-01 4.64867459e-02 1.60417032e-01] [-1.33652143e-02 -4.77434253e-02 9.98770212e-01 -3.01083466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55719347 meters Centerline goodness : 0.861273 Centerline is valid? [False, False] Translation: X:20.86, Y:0.16, Z:-3.01 [[ 9.96797992e-01 7.81819797e-02 1.67732478e-02 2.08559970e+01] [-7.88447673e-02 9.95942877e-01 4.33738241e-02 1.57869084e-01] [-1.33141453e-02 -4.45574236e-02 9.98918100e-01 -3.01060435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58719347 meters Centerline goodness : 0.867914 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.97289381e-01 7.17736906e-02 1.61996180e-02 2.08553114e+01] [-7.23436269e-02 9.96660428e-01 3.78733457e-02 1.50814445e-01] [-1.34272084e-02 -3.89426246e-02 9.99151231e-01 -3.00939302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61719347 meters Centerline goodness : 0.867483 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.97771274e-01 6.49155515e-02 1.54420363e-02 2.08557353e+01] [-6.53656184e-02 9.97389454e-01 3.06857145e-02 1.49225720e-01] [-1.34097440e-02 -3.16267026e-02 9.99409791e-01 -3.00907929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64719347 meters Centerline goodness : 0.867521 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.98181130e-01 5.84521336e-02 1.47573569e-02 2.08563338e+01] [-5.87925363e-02 9.97986585e-01 2.37952621e-02 1.47940605e-01] [-1.33367604e-02 -2.46196041e-02 9.99607926e-01 -3.00889059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67719347 meters Centerline goodness : 0.865737 Centerline is valid? [False, False] Translation: X:20.86, Y:0.15, Z:-3.01 [[ 9.98385926e-01 5.49125708e-02 1.44966549e-02 2.08564452e+01] [-5.52041242e-02 9.98263756e-01 2.05420852e-02 1.45875396e-01] [-1.33434665e-02 -2.13092038e-02 9.99683885e-01 -3.00876600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70719347 meters Centerline goodness : 0.856346 Centerline is valid? [False, False] Translation: X:20.87, Y:0.14, Z:-3.01 [[ 9.98647265e-01 4.92538221e-02 1.66643565e-02 2.08744908e+01] [-4.95939915e-02 9.98555849e-01 2.06555742e-02 1.37429992e-01] [-1.56229247e-02 -2.14540846e-02 9.99647761e-01 -3.01134971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73719347 meters Centerline goodness : 0.854499 Centerline is valid? [False, False] Translation: X:20.88, Y:0.13, Z:-3.01 [[ 9.98793516e-01 4.62764082e-02 1.64318429e-02 2.08755204e+01] [-4.65728872e-02 9.98750110e-01 1.81434336e-02 1.33045700e-01] [-1.55716919e-02 -1.88868222e-02 9.99700360e-01 -3.01244741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76719347 meters Centerline goodness : 0.854447 Centerline is valid? [False, False] Translation: X:20.88, Y:0.13, Z:-3.01 [[ 9.98923701e-01 4.34771330e-02 1.61610324e-02 2.08765492e+01] [-4.37333353e-02 9.98917456e-01 1.58528242e-02 1.28301717e-01] [-1.54543020e-02 -1.65425377e-02 9.99743722e-01 -3.01349916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79719347 meters Centerline goodness : 0.854914 Centerline is valid? [False, False] Translation: X:20.88, Y:0.13, Z:-3.01 [[ 9.99058042e-01 4.03026980e-02 1.60847990e-02 2.08766616e+01] [-4.05114384e-02 9.99096189e-01 1.28696909e-02 1.25432008e-01] [-1.55515782e-02 -1.35091866e-02 9.99787803e-01 -3.01373343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82719347 meters Centerline goodness : 0.854026 Centerline is valid? [False, False] Translation: X:20.88, Y:0.12, Z:-3.01 [[ 9.99179537e-01 3.72549500e-02 1.58846181e-02 2.08770409e+01] [-3.74124888e-02 9.99252454e-01 9.73854040e-03 1.24375237e-01] [-1.55099348e-02 -1.03248334e-02 9.99826405e-01 -3.01384244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85719347 meters Centerline goodness : 0.852127 Centerline is valid? [False, False] Translation: X:20.88, Y:0.12, Z:-3.01 [[ 9.99136374e-01 3.83077736e-02 1.60941233e-02 2.08765004e+01] [-3.84976622e-02 9.99190669e-01 1.16592084e-02 1.19672725e-01] [-1.56344595e-02 -1.22687253e-02 9.99802502e-01 -3.01324426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88719347 meters Centerline goodness : 0.851724 Centerline is valid? [False, False] Translation: X:20.88, Y:0.12, Z:-3.01 [[ 9.99112682e-01 3.89259314e-02 1.60816672e-02 2.08771869e+01] [-3.91337490e-02 9.99151783e-01 1.28165281e-02 1.16784788e-01] [-1.55691312e-02 -1.34344917e-02 9.99788536e-01 -3.01399862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91719347 meters Centerline goodness : 0.849530 Centerline is valid? [False, False] Translation: X:20.88, Y:0.11, Z:-3.02 [[ 9.99184962e-01 3.72735334e-02 1.54949987e-02 2.08800214e+01] [-3.74456012e-02 9.99238487e-01 1.09669278e-02 1.14823576e-01] [-1.50744229e-02 -1.15382089e-02 9.99819800e-01 -3.01622495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94719347 meters Centerline goodness : 0.842760 Centerline is valid? [False, False] Translation: X:20.88, Y:0.11, Z:-3.02 [[ 9.99259910e-01 3.51607144e-02 1.55998720e-02 2.08815362e+01] [-3.53136371e-02 9.99329803e-01 9.63802807e-03 1.09279751e-01] [-1.52505371e-02 -1.01817833e-02 9.99831862e-01 -3.01839417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97719347 meters Centerline goodness : 0.842265 Centerline is valid? [False, False] Translation: X:20.88, Y:0.11, Z:-3.02 [[ 9.99249386e-01 3.53680514e-02 1.58039756e-02 2.08814661e+01] [-3.55413062e-02 9.99309637e-01 1.08196708e-02 1.05615559e-01] [-1.54103944e-02 -1.13732433e-02 9.99816568e-01 -3.01864890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00719347 meters Centerline goodness : 0.841379 Centerline is valid? [False, False] Translation: X:20.88, Y:0.10, Z:-3.02 [[ 9.99241892e-01 3.55170743e-02 1.59429764e-02 2.08815296e+01] [-3.57117057e-02 9.99288953e-01 1.20938745e-02 1.01940661e-01] [-1.55021011e-02 -1.26540570e-02 9.99799760e-01 -3.01883642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03719347 meters Centerline goodness : 0.836087 Centerline is valid? [False, False] Translation: X:20.88, Y:0.10, Z:-3.02 [[ 9.99352146e-01 3.23096808e-02 1.58547523e-02 2.08820964e+01] [-3.24546152e-02 9.99432951e-01 8.97079787e-03 1.00162620e-01] [-1.55559182e-02 -9.47954598e-03 9.99834062e-01 -3.01933355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06719347 meters Centerline goodness : 0.835824 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.02 [[ 9.99398814e-01 3.12285603e-02 1.50594603e-02 2.08865700e+01] [-3.13664494e-02 9.99467353e-01 9.00867824e-03 9.38491674e-02] [-1.47701109e-02 -9.47562415e-03 9.99846016e-01 -3.02288559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09719347 meters Centerline goodness : 0.832307 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.02 [[ 9.99383519e-01 3.17470142e-02 1.49902721e-02 2.08881208e+01] [-3.18997843e-02 9.99440398e-01 1.00645465e-02 9.16134902e-02] [-1.46623643e-02 -1.05365284e-02 9.99836985e-01 -3.02443937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12719347 meters Centerline goodness : 0.538524 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.03 [[ 9.99372794e-01 3.21194867e-02 1.49116756e-02 2.08891694e+01] [-3.22825067e-02 9.99420178e-01 1.08234466e-02 8.98174024e-02] [-1.45553859e-02 -1.12980444e-02 9.99830233e-01 -3.02524153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15719347 meters Centerline goodness : 0.202308 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:-3.03 [[ 9.99412713e-01 3.02261834e-02 1.61433227e-02 2.08869936e+01] [-3.03467555e-02 9.99512943e-01 7.27679541e-03 8.92321278e-02] [-1.59155102e-02 -7.76241931e-03 9.99843208e-01 -3.02589829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18719346999998 meters Centerline goodness : 0.193076 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99387294e-01 2.97314898e-02 1.84682270e-02 2.08829689e+01] [-2.98422381e-02 9.99538081e-01 5.75026868e-03 8.32037926e-02] [-1.82887321e-02 -6.29787868e-03 9.99812912e-01 -3.02628493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21719346999998 meters Centerline goodness : 0.226317 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99431609e-01 2.74254140e-02 1.96037037e-02 2.08810387e+01] [-2.74823278e-02 9.99618804e-01 2.63968208e-03 8.08172589e-02] [-1.95238365e-02 -3.17693712e-03 9.99804344e-01 -3.02674111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24719346999998 meters Centerline goodness : 0.187490 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99475948e-01 2.54195112e-02 2.00419195e-02 2.08812744e+01] [-2.54328387e-02 9.99676449e-01 4.10331000e-04 7.78083184e-02] [-2.00250045e-02 -9.19838870e-04 9.99799056e-01 -3.02816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27719347 meters Centerline goodness : 0.189441 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:-3.03 [[ 9.99531630e-01 2.26052117e-02 2.06282429e-02 2.08808786e+01] [-2.25597608e-02 9.99742535e-01 -2.43341587e-03 7.50404481e-02] [-2.06779397e-02 1.96690791e-03 9.99784254e-01 -3.02917173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30719347 meters Centerline goodness : 0.149075 Centerline is valid? [False, False] Translation: X:20.88, Y:0.07, Z:-3.03 [[ 9.99621421e-01 1.75351227e-02 2.12022031e-02 2.08817145e+01] [-1.73935709e-02 9.99825308e-01 -6.84236871e-03 6.85527021e-02] [-2.13184810e-02 6.47099632e-03 9.99751793e-01 -3.03142019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33719347 meters Centerline goodness : 0.185702 Centerline is valid? [False, False] Translation: X:20.88, Y:0.06, Z:-3.03 [[ 9.99677286e-01 1.44472292e-02 2.08950213e-02 2.08839647e+01] [-1.42745466e-02 9.99862913e-01 -8.38997594e-03 6.46632382e-02] [-2.10133688e-02 8.08900142e-03 9.99746471e-01 -3.03292556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36719347 meters Centerline goodness : 0.191895 Centerline is valid? [False, False] Translation: X:20.89, Y:0.06, Z:-3.03 [[ 9.99732453e-01 1.09123264e-02 2.03947161e-02 2.08865243e+01] [-1.07095208e-02 9.99892378e-01 -1.00269337e-02 6.03863068e-02] [-2.05019384e-02 9.80583341e-03 9.99741725e-01 -3.03424324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12661.19 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%| | 0/6802 [00:00